WO2023134734A1 - Movable apparatus, control method and device, storage medium, and mobile platform - Google Patents

Movable apparatus, control method and device, storage medium, and mobile platform Download PDF

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Publication number
WO2023134734A1
WO2023134734A1 PCT/CN2023/071975 CN2023071975W WO2023134734A1 WO 2023134734 A1 WO2023134734 A1 WO 2023134734A1 CN 2023071975 W CN2023071975 W CN 2023071975W WO 2023134734 A1 WO2023134734 A1 WO 2023134734A1
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WO
WIPO (PCT)
Prior art keywords
leg
frame
mechanical
mechanical leg
base
Prior art date
Application number
PCT/CN2023/071975
Other languages
French (fr)
Chinese (zh)
Inventor
冯春魁
Original Assignee
冯春魁
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from PCT/CN2022/071683 external-priority patent/WO2023133743A1/en
Application filed by 冯春魁 filed Critical 冯春魁
Publication of WO2023134734A1 publication Critical patent/WO2023134734A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D90/00—Component parts, details or accessories for large containers
    • B65D90/12—Supports

Definitions

  • the invention belongs to the technical field of robots, and in particular relates to movable equipment, a control method and device, a storage medium and a mobile platform.
  • the publication number or authorization number disclosed by Nissan Corporation of Japan is CN100540237 called the control method of legged mobile robot, the disclosure or authorization number is CN1240524C, the biped walking robot, the disclosure or authorization number is CN1234507C biped walking robot, disclosure or authorization No. CN100566952 legged mobile robot and its control device and control method, public or authorized No. CN102300680A named robot arm control method, authorized announcement No. CN109571423A-robot control system, robot control method and robot control system users
  • the device discloses a variety of legged mobile robots with arms, a variety of legs, multiple arms, a coordinated control method for the robot to walk and arm fetching operations, and a legged mobile robot to push or pull or lift external objects (i.e. objects Objects) to make them move, legged mobile robots move, and methods for installing objects by hand.
  • the publication or authorization number published by Boston Dynamics in China is CN109571544A-mixed hydraulic and electric actuated mobile robot
  • the publication or authorization number is CN110035872A-the overall manipulation on legged robots using dynamic balance
  • the disclosure or authorization number is CN110073579A-Motor and controller integration for legged robots
  • public or authorized number is Boston-CN111482960A-robot and its operation method; discloses a variety of bipedal, quadrupedal or more-legged robots, legs, arms, joints , Actuators used to actuate the joints or components of the robot, a variety of control legs to make the robot walk (stand, walk, run, jump), control the arm to perform work, and control the technical control of the robot to maintain balance by manipulating the legs and arms at the same time plan.
  • Gait control technology for legged robots.
  • the legs are installed on opposite sides of the frame in pairs, and walking is realized through the alternation of support phase and swing phase of each pair of legs.
  • Gait is the method of moving on foot. Gait is achieved by defining when and where each foot is lifted and placed, complemented by 6 degrees of freedom of motion of the body to move the body.
  • a gait refers to the sequence of performing leg and body motions that make a legged robot walk. Gait is divided into discontinuous gait and continuous gait.
  • Continuous gait is divided into wave gait, crab gait and so on. wait.
  • Wavy gait is defined as having at least 3 legs in stance at any one time.
  • D-H forward kinematics model select the reference coordinate system associated with the joint and the connecting rod, and derive the kinematics model of the open chain mechanism.
  • Joint variables can also be determined via the inverse kinematics model, ie via the position and inversion of the foot.
  • To support the phase is to support the ground. Standing is when the legs touch the ground and the support frame lifts off the ground.
  • the frame swing phase is relative to the frame swing and off the ground.
  • the current excavator has a strong working ability, but it can only move the excavator simply by touching the ground with the excavator arm, and the simple movement is fundamentally different from the (real) walking with multiple legs alternately supporting the ground.
  • Robots and four-legged robot dogs can walk with multiple legs alternately (true), fast and flexible.
  • humanoid robots and quadruped robot dogs in the prior art lack the technical solutions and corresponding capabilities to perform (high performance, multi-scenario) specified operations with legs, resulting in (high cost, multi-joint, strong and powerful) mechanical legs (severe) Idle, reducing the cost performance; humanoid robots and quadruped robot dogs in the prior art have the problems of easily losing stable support (balance) ability, falling to the ground, and damage on the stomach when working with legs; This kind of wheel-leg integrated robot, because its wheels are set on the legs, once the legs are lifted up to carry out operations, the wheels will also be lifted off the ground, and there are also problems that the whole machine is easy to lose support, balance ability, and fall to the ground;
  • the wheel-track walking mechanism has high speed and high efficiency, but it has the problem of difficulty in overcoming obstacles. Therefore, there is an urgent need for new technologies to solve one or more of the above problems, so as to improve the performance of equipment with mechanical legs or to share and reduce the cost of using the
  • this application provides:
  • a movable device comprising: a rack (01);
  • the mechanical leg (02) located on the first side of the center of gravity (O) of the device and the mechanical leg (02) located on the second side of the center of gravity (O) of the device The mechanical leg (02) of the first side and the mechanical leg (02) of the second side are all connected to the frame (01); the mechanical leg (02) of the first side and the mechanical leg (02) of the second side ( 02) Configured to be able to walk;
  • At least one of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side is a mechanical leg with a leg-arm fusion, and the end of the mechanical leg with a leg-arm fusion is connected to an end effector, the The end effector is a work tool (17) or is used to connect a work tool (17) connecting portion;
  • the equipment also includes a rolling traveling mechanism (57) connected to the frame (01), which is used to support the frame (01) off the ground and make the device travel along the road; and/or, the
  • the device also includes a leg-root motion mechanism for enabling the base of the mechanical leg to move up and down and/or forward and backward relative to the frame (01), and one end of the leg-root motion mechanism is connected to the frame (01) , the other end of the leg root motion mechanism is connected to the base of the mechanical leg.
  • the fused robotic leg and the work implement (17) are configured for a given work. Walking is walking on multiple legs alternately.
  • the mechanical leg of leg-arm fusion is the multifunctional mechanical leg, that is, the mechanical leg with arm function, that is, the limb mechanism of leg-arm fusion, and the four are equivalent.
  • any one of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side includes: a first joint part (101), a thigh (102), a second joint part ( 103) and the lower leg (104), the second joint part (103) includes a second swing joint for enabling the lower leg (104) to swing back and forth relative to the thigh (102), the base of the mechanical leg refers to the first a base of a first joint included in a joint part (101), the end of the mechanical leg being the end of the lower leg (104);
  • the first joint part (101) includes a first swing joint (1012) that allows the thigh (102) to swing back and forth relative to the base of the mechanical leg, or the first joint part (101) includes a A first rotary joint (1011) for leg rotation and a first swing joint (1012) for enabling the thigh (102) to swing back and forth relative to the base of the mechanical leg, the first rotary joint (1011) is connected to The first swing joint (1012).
  • the first swing joint (1012) enables the thigh (102) to swing back and forth, and the second swing joint enables the lower leg to swing back and forth, thereby realizing the basic performance of walking.
  • the first rotary joint (1011) can make the thigh (102) sag and make the thigh (102) swing left and right relative to the base of the mechanical leg, which is beneficial for improving walking performance.
  • any of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side are used for walking, any of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side
  • the output shaft of the first joint included in a mechanical leg points forward and backward, left and right, or downward, and the root of the thigh (102) included in the mechanical leg (02) is located below the base of the first joint.
  • the benefit of the output shaft of the first rotary joint 1011 pointing forward and backward it is used to expand the range of motion of the mechanical leg 02 when working in the front and rear areas of the equipment. From the perspective of operation, it is very important to work in the front or rear area of the equipment, and the most important working direction is the front and rear areas. Compared with the output shaft pointing to the left and right or up and down, the output shaft points to the front and back so that the equipment can work in a wider range in the front or rear area.
  • the rotation axis of the first joint of the digging arm of the excavator points up and down and the root of the digging arm is located above the base of the first joint, and the digging arm can Rotate back and forth around the vertical axis, so that the manned cabin must also rotate with the excavator arm, otherwise the two will interfere with each other.
  • the manned cabin needs to be rotated as a whole, it must not be firmly connected to the frame, cannot guarantee safety during high-speed driving, and especially cannot pass the collision safety test, so the excavator can only move slowly, losing the power of the car and the vehicle.
  • the first joint (101) of the first joint (101) of the mechanical leg (02) includes the output shaft of the first rotary joint (1011) pointing forward and backward or left and right, and the mechanical leg (02) does not It will hinder the connection of the frame and the manned pod, and will not cause the manned pod to rotate to avoid interference with the mechanical legs (02), so that the movable equipment allows high speed travel.
  • the end of the mechanical leg is connected to the end effector: the end of the mechanical leg is connected to the end effector through a third joint, and the third joint is used to adjust the attitude of the end effector;
  • the third joint part includes a joint (1052) for swinging the end effector relative to the lower leg (104).
  • the joint (1052) enables the end effector to swing up to prevent The end effector touches the ground; and/or, the third joint part includes at least three joints for adjusting the posture of the end effector in three-dimensional space.
  • the swing joint (1052) prevents the end effector from being trampled when the mechanical leg is used for walking. Because the real space and objects are mainly three-dimensional, at least three joints can realize three-dimensional angle adjustment, which is beneficial to improve operation performance.
  • the core difference between this solution and the excavator is that the excavator’s excavator arm has only four joints, and only six joints and six degrees of freedom mechanical legs can reach the end effector to any position and angle within the range of the arm, in order to achieve real High performance jobs.
  • One end of the third joint part is connected to the end of the lower leg (104), and the other end of the third joint part is connected to the end effector.
  • the at least three joints are sequentially connected joints (1051) for first end rotation, so that the end effectors are relatively
  • the joint (1052) for swinging the lower leg (104), the joint (1053) for the second end rotation, and the joint (1051) for the first end rotation is used to make the end effector output around the joint (1051)
  • the axis of the shaft rotates, and the second end-rotation joint (1053) is used to rotate the end effector about the axis (A6) of the output shaft of the joint (1053).
  • the movable device as described in technical solution 1, at any one of the first end of the rack (01), the middle of the rack (01) and the second end of the rack (01)
  • the base of the mechanical leg (02) on the first side and the base of the mechanical leg (02) on the second side in the interval are connected through the second bracket, when the mechanical leg (02) on the first side connected through the second bracket
  • the mechanical leg (02) on the first side connected by the second bracket and the second side can walk along the road independently of the device.
  • the mechanical leg (02) can walk along the road independently of the device, and one function can become two machines to perform tasks respectively, which is of great significance.
  • connection part for connecting the working tool (17) is a grabbing device (06), and/or the connection is grabbing.
  • the grabbing device (06) can more conveniently replace the working tool (17) or working object, which is convenient for working.
  • the grabbing device (06) includes: a linear moving mechanism (06_2) for fetching objects, one end of the linear moving mechanism (06_2) is connected to the end of the mechanical leg of the leg-arm fusion, and the other end is connected to the hook The hook (06_3) of the object, the linear movement mechanism (06_2) is used to drive the hook (06_3) to move linearly to grab the object or release the object.
  • the common grasping device (06) is a finger-articulated grasping device, which grasps objects by holding multiple fingers together. Therefore, the multi-functional mechanical leg 02 in the equipment in this article is not only used for walking, but also has the function of holding objects or climbing along external objects, especially reliable grasping ability (otherwise it will be difficult to hold the work tool stably or it will easily fall when climbing) , the pick-up device 06 adopts the way of grabbing in a straight line with a hook. Compared with the clamping scheme of the grabbing device with articulated swing and fingers gripping in the prior art, it has greater grabbing force and higher grabbing reliability. .
  • the rolling running gear (57) includes a first running gear (511) and a second running gear (522) that are connected to the frame (01), and when the posture of the frame (01) is the first lying position,
  • the first traveling mechanism (511) is located in front of the center of gravity (O) of the movable equipment
  • the second traveling mechanism (522) is located behind the center of gravity (O) of the movable equipment
  • the first traveling mechanism (511) The lower surface of the lower surface and the lower surface of the second running gear (522) are lower than the surface of the second area of the frame (01), the first running gear (511) and the second running gear (522) are used for supporting the frame (01) off the ground and making the device run along the road;
  • the rolling traveling mechanism (57) includes a third traveling mechanism connected to the frame (01).
  • the third traveling mechanism is a crawler type traveling mechanism (07).
  • the posture of the frame (01) is the first horizontal In the posture, the lower surface of the third traveling mechanism is lower than the surface of the second area of the frame (01), and the third traveling mechanism is used to support the frame (01) off the ground and make the equipment travel along the road surface, And the center of gravity (O) point of this equipment all has the arrival point of this 3rd running mechanism on the front, rear, left and right sides.
  • the first running mechanism and the second running mechanism are separated front and rear, which can form a standard front and rear wheel running mechanism.
  • This mechanism (like the wheel scheme of a car or motorcycle) has high efficiency and fast speed when driving on flat roads .
  • the tracked walking mechanism can provide greater grip than the wheel mechanism on the beach and snow, and is also suitable for climbing stairs.
  • the mobile device according to technical solution 2 includes any one or more of the first feature, the second feature, the third feature, and the fourth feature:
  • the edge of the first end of the first traveling mechanism (511) is located on the surface of the frame (01) close to the second area forward of the edge of the first end;
  • Second feature when the posture of the frame (01) is the first prone position, the edge of the second end of the second walking mechanism (522) is located on the first surface of the frame (01) close to the second area. behind the edges of both ends; and/or,
  • the device includes road wheels connected to the first area of the first end of the frame (01), when the frame (01) is in the first prone position: the first end of the first end.
  • the upper surface of the road wheels of the area is higher than the surface of the first area of the first end of the frame (01), and/or the edge of the first end of the road wheels of the first area of the first end is located at the frame (01) in front of the edge near the first end of the surface of the first region;
  • the device includes road wheels connected to the first area of the second end of the frame (01), when the frame (01) is in the first prone position: the first area of the second end
  • the upper surface of the road wheels is higher than the surface of the first area of the second end of the frame (01), and/or the edge of the second end of the road wheels of the first area of the second end is located near the frame (01) of the first area behind the edge of the second end of the surface.
  • the first running mechanism (511) can support the edge of the first end of the frame (01) close to the surface of the second area from the ground, the first Two standing postures are that the first end of the frame (01) faces the ground and the second end of the frame (01) faces upwards;
  • the second walking mechanism (522) can support the second side of the surface of the frame (01) close to the second area.
  • the edge of the end is off the ground, and the first standing posture is that the second end of the frame (01) faces the ground and the first end of the frame (01) faces upward.
  • the beneficial value of this feature is: when the posture of the frame (01) is the second standing posture, the walking wheels in the first area of the first end can support the frame (01) close to the first An edge of the first end of the surface of a region is off the ground.
  • the upper surface of the road wheels in the first region of the first end is higher than the first surface of the first region of the first end of the frame (01).
  • the upper surface feature of the road wheels in the first area of the first end is: when the posture of the frame (01) is the second prone position, the road wheels in the first area of the first end can support the The surface of the first region of the first end of the frame (01) is off the ground.
  • the edge of the second end of the road wheel in the first area of the second end is located at the edge of the second end of the surface of the frame (01) close to the first area
  • the beneficial value of this feature is: when the posture of the frame (01) is the first standing posture, the walking wheels in the first area of the second end can support the surface of the frame (01) close to the first area
  • the edge of the second end is off the ground.
  • the upper surface of the road wheels in the first region of the second end is higher than the second end of the surface of the first region of the second end of the frame (01).
  • the upper surface feature of the road wheels in a region the beneficial value of this feature is: when the posture of the frame (01) is the second prone position, the road wheels in the first region of the second end can support the frame (01 The surface of the first region of the second end of ) is off the ground.
  • the edge of the first end of the road wheel in the first area of the first end is located in front of the edge of the first end of the surface of the frame (01) close to the first area. Effect: when the posture of the frame (01) is the second standing posture, the first traveling mechanism (511) and the road wheels in the first area of the first end can support the first end of the frame (01). Edge off the ground.
  • the upper surface of the road wheel in the first area of the first end in the third feature is higher than the surface of the first area of the first end of the frame (01) + the first area of the second end in the fourth feature
  • the beneficial effect of the upper surface of the walking wheel being higher than the surface of the first area of the second end of the frame (01): when the posture of the frame (01) is the second prone position, the first area of the first end
  • the road wheels and the road wheels in the first area of the second end can support the surface of the frame (01) in the first area of the frame (01) off the ground.
  • one end of the edge facing the ground is provided with a wheel for supporting the end off the ground and the frame ( 01)
  • the resistance of sliding along the ground has a very good effect. Both ends of the edge towards the ground are provided with wheels for supporting the edge towards the ground from the ground, so that the resistance of the frame (01) sliding along the ground during this posture can be better reduced. Reduce the resistance of the frame (01) sliding along the ground in this posture, so that the frame (01) can move along the ground in this posture, and facilitate the adjustment of the mechanical legs of the leg-arm fusion according to the needs of the operation when performing specified operations
  • the front, rear, left, and right positions of the frame (01) can improve workability.
  • the equipment also includes a first lifting mechanism (211) and a second lifting mechanism (222), one end of the first lifting mechanism (211) and the second lifting mechanism (222) are connected to the frame (01), the The other end of the first elevating mechanism (211) is connected to the first traveling mechanism (511), and the first elevating mechanism (211) is used to lift the first traveling mechanism (511) relative to the frame (01).
  • the other end of the two lifting mechanisms (222) is connected to the second traveling mechanism (522), and the second lifting mechanism (222) is used to lift the second traveling mechanism (522) relative to the frame (01); and/or , the equipment also includes the third lifting mechanism, one end of the third lifting mechanism is connected to the frame (01), the other end of the third lifting mechanism is connected to the third traveling mechanism, and the third lifting mechanism is used to make the The 3rd traveling gear is lifted relative to this frame (01).
  • Robots in the prior art also have the problem that the whole machine is inconvenient to perform posture and/or ground height when the mechanical legs are used for work off the ground.
  • the lifting mechanism can not only improve the equipment's ability to overcome obstacles (such as raising the frame to overcome obstacles, such as lifting the rolling walking mechanism to be overcome to the ground to overcome obstacles), but also adjust the equipment when working with mechanical legs.
  • the attitude and/or height above the ground are beneficial to improve the quality of work.
  • the equipment can have a unique obstacle-surmounting ability, which can greatly reduce the mechanical leg 02 for walking and obstacle-crossing.
  • Frequency of use because walking and supporting the ground with mechanical legs requires lifting the whole machine to bear a large load, so this solution can reduce the damage probability of mechanical legs, prolong life, and reduce the demand for the load capacity of mechanical legs.
  • the mechanical leg is a multi-link swing mechanism, it has strong flexibility but high cost. Reducing the demand for load capacity can greatly reduce the cost of manufacturing and using the mechanical leg and equipment.
  • the mobile device as described in technical solution 2 is characterized in that,
  • the first traveling mechanism (511) is the first traveling wheel or the first distributed crawler mechanism; and/or,
  • the second traveling mechanism (522) is a second traveling wheel or a second distributed crawler mechanism; and/or,
  • the first traveling mechanism (511) includes a first traveling mechanism (051) arranged on a first side of the center of gravity (O) of the equipment and a first traveling mechanism (053) arranged on a second side of the center of gravity (O)
  • the second traveling mechanism (522) includes a second traveling mechanism (052) arranged on the first side of the center of gravity (O) of the equipment and a second walking mechanism arranged on the second side of the center of gravity (O) Agency (054); and/or,
  • the rolling traveling mechanism composed of the first traveling mechanism (511) and the second traveling mechanism (522) is disconnected from the frame (01)
  • the rolling traveling mechanism can be independent of the equipment along the road driving in front of you; and/or,
  • the crawler-type traveling mechanism (07) When the crawler-type traveling mechanism (07) is disconnected from the frame (01), the crawler-type traveling mechanism (07) can run along the road independently of the equipment.
  • the first traveling mechanism is the first traveling wheel
  • the second traveling mechanism is the second traveling wheel
  • the cost of the traveling wheels is low
  • the driving speed on flat roads is fast
  • the efficiency is high.
  • distributed crawler mechanisms are more conducive to anti-skid.
  • the first running mechanism includes a left and right running mechanism
  • the second running mechanism includes a left and right running mechanism, which is similar to a tricycle or a four-wheel vehicle as the running mechanism, and can improve static stability when the supporting frame is off the ground.
  • the traveling mechanism can run along the road independently of the equipment, and one machine can be transformed into two machines, which can perform different tasks respectively.
  • the leg movement mechanism includes a first linear movement mechanism (184) connected to the bracket, the first linear movement mechanism (184) is arranged on the bottom of the frame (01) or on the first side or the second side, the first linear movement mechanism
  • the base of the kinematic mechanism (184) is connected to the frame (01)
  • the output part of the first linear kinematic mechanism (184) is connected to the bracket
  • the first side part of the bracket is connected to the leg-arm fusion of the first side.
  • the base of the mechanical leg, the component on the second side of the bracket is connected to the base of the mechanical leg fused with the leg arm on the second side, and the first linear motion mechanism is used to: drive the base of the mechanical leg on the first side
  • the base of the mechanical leg of the seat and the second side moves between the first end of the frame (01) and the second end of the frame (01) or between the first end of the frame (01) and the second end of the frame (01). moving between the middle of the rack (01) or between the middle of the rack (01) and the second end of the rack (01); or,
  • the leg movement mechanism includes a first linear movement mechanism (184L) arranged on the first side of the frame (01), and the base of the first linear movement mechanism (184L) on the first side is connected to the frame (01), the output member of the first linear motion mechanism (184L) on the first side is connected to the base of the mechanical leg of the leg-arm fusion on the first side, and the first linear motion mechanism (184L) on the first side is used In: driving the base of the mechanical leg on the first side to move between the first end of the frame (01) and the second end of the frame (01) or between the first end of the frame (01) move between the middle of the rack (01) or between the middle of the rack (01) and the second end of the rack (01), and/or,
  • the leg movement mechanism includes a first linear movement mechanism (184R) arranged on the second side of the frame (01), and the base of the first linear movement mechanism (184R) on the second side is connected to the frame (01), the output member of the first linear motion mechanism (184L) on the second side is connected to the base of the mechanical leg of the leg-arm fusion on the second side, and the first linear motion mechanism (184R) on the second side uses In: driving the base of the mechanical leg on the second side to move between the first end of the frame (01) and the second end of the frame (01) or between the first end of the frame (01) and between the middle of the rack (01) or between the middle of the rack (01) and the second end of the rack (01). or,
  • the leg movement mechanism includes a first leg swing mechanism (19L) arranged on the first side of the frame (01), the base of the first leg swing mechanism (19L) on the first side is connected to the frame (01), and the rotation axis of the first leg swing mechanism (19L) on the first side is directed to the left and right, and the output member of the first leg swing mechanism (19L) on the first side is connected to the first side
  • the base of the mechanical leg of leg-arm fusion, the first leg root swing mechanism (19L) on the first side is used to: drive the base of the mechanical leg on the first side on the first side of the frame (01) swing between any two positions of the first end, the middle of the first side of the frame (01) and the second end of the first side of the frame (01), and/or,
  • the leg movement mechanism includes a first leg swing mechanism (19R) arranged on the second side of the frame (01), the base of the first leg swing mechanism (19R) on the second side is connected to the frame (01), and the rotation axis of the first leg swing mechanism (19R) on the second side is directed to the left and right, and the output member of the first leg swing mechanism (19R) on the second side is connected to the second side
  • the base of the mechanical leg of leg-arm fusion, the first leg root swing mechanism (19R) on the second side is used to: drive the base of the mechanical leg on the second side on the second side of the frame (01)
  • the first end, the middle part of the second side of the frame (01) and the second end of the second side of the frame (01) can swing between any two positions.
  • leg root motion mechanism can realize the forward and backward movement of the leg, and the cost of the first linear motion mechanism and the first leg root swing mechanism is lower than that of the mechanical leg, so that the two legs can exert greater value.
  • Two linear motion mechanisms (122R) the mechanical leg (02) of the first side includes a mechanical leg (021L) at the first end of the first side and a mechanical leg (022L) at the second end of the first side;
  • the mechanical leg (02) includes the mechanical leg (021R) at the first end of the second side and the mechanical leg (022R) at the second end of the second side;
  • the first end of the first side, the second end of the first side, the first end of the second side, and the second end of the second side of the base of the second linear motion mechanism in any orientation The two ends are respectively directed to the surface of the first area of the frame (01) and the surface of the second area of the frame (01), the base of the second linear motion mechanism is connected to the frame (01), the The output part of the second linear motion mechanism is connected to the base of the mechanical leg in any orientation; the second linear motion mechanism can drive the base of the mechanical leg to move to the first area, so that the mechanical leg in the first area Perform specified operations or climb, and/or, the second linear motion mechanism can also drive the base of the mechanical leg to move to the second area (lower part), so that the mechanical leg can be designated in the second area (lower part) homework or walking.
  • the second linear motion mechanism can realize the lifting of the leg root, and the cost of the second linear motion mechanism is lower than that of the mechanical leg, so that the leg can exert greater value.
  • the movable equipment as described in technical solution 1 is characterized in that, the specified operation includes carrying the personnel in the manner of supporting the personnel from below the personnel, driving the machine connected to the end of the mechanical leg (02)
  • Work tools (17) carry people, cut objects, dig, shovel, dig or shovel, pick objects, cultivate, paint objects, take bricks and build walls, weld objects, rotate tight Firmware to attach or detach items, eject objects either.
  • Beneficial effect of the scheme improving (multi-joint, thick, high-cost) leg working ability and reducing waste of resources.
  • the posture of the frame (01) can be either the first lying posture or the standing posture, and the standing posture is the first standing posture or the second standing posture.
  • the attitude of the frame (01) is the first lying position, and the length of the frame (01) is greater than the height at this moment, and the equipment is equivalent to a tiger robot at this moment, and is suitable for ground operations or front operations or For side work;
  • the posture of the frame (01) is a standing posture, and the height of the frame (01) is greater than the length in the front and rear directions at this time. Work or climb.
  • the end of the mechanical leg (02) is provided with a sole (106A) for supporting the ground.
  • the sole (106A) can improve the ground integral force relative to the end of the lower leg (104).
  • the ends of the mechanical legs (02) are provided with rollers for rolling along the road surface.
  • the mechanical leg (02) is provided with a power supply component for supplying power to the working tool, one end of the power supply component is connected to the power supply provided on the frame (01), and one end of the power supply component is used to connect the working tool .
  • the top (115) of the device is connected to the frame (01) through the fifth lifting mechanism (1315) so that the top (115) can be lifted relative to the frame (01) and/or the top (115) is set There are scroll wheels.
  • the scheme is convenient for pipeline operation, if necessary, the end of the mechanical leg 02 is provided with a roller 106 or a fifth lifting mechanism (1315) so that the top can abut against the inner wall of the pipeline to prevent the equipment from slipping, and the top (115) is provided with a roller It can also reduce the friction force when passing in the pipeline.
  • the mobile device is configured to carry an adult, and/or the device also includes a manned cabin (11).
  • a tool that can carry people is more economically meaningful than designing the device as a non-passenger tool or toy.
  • the movable device is a car.
  • the car is the most important tool in human society. Compared with walking, the car has a high driving efficiency with a rolling walking mechanism.
  • the combination of the car and the mechanical legs integrated with the leg and arm makes the equipment have the ability of half a car and half a tiger, and improves the comprehensive ability .
  • the movable device further includes an underwater propulsion device (09) connected to the frame (01), and the underwater propulsion device (09) is configured to drive the movable device to travel in water; and/or , the buoyancy generated by the movable device in the water is not less than the weight of the movable device or the movable device is a boat.
  • the equipment that contains the propulsion device (09) in water and can generate sufficient buoyancy is a boat.
  • the boat is the most important tool in human society.
  • the combination of the boat and the mechanical legs that integrate the legs and arms makes the equipment half-boat, half-tiger, and improves the Comprehensive ability.
  • control method for controlling movable equipment as described in technical solution 1 or any optional technical solution based on technical solution 1, the control method comprising steps:
  • step S1 If the type of operation is to carry the personnel by holding the personnel from below, step S1 is performed.
  • step S2 is performed.
  • step S3 is performed.
  • step S4 is performed.
  • step S5 is performed.
  • step S6 is performed.
  • step S7 is performed.
  • step S8 is performed.
  • step S8 is performed.
  • step S9 If the type of operation is to rotate the fastener to install or disassemble the article, then perform step S9,
  • step S10 is performed.
  • step S11 If the type of operation is to climb along the external object through the mechanical leg fused with the leg arm, then perform step S11,
  • step S12 is performed
  • step S13 is performed;
  • S1 First place the movable part of the mechanical leg with the leg-arm fusion under the person to be carried to support the person, and then make the person lift and/or translate.
  • the movable part refers to the thigh of the mechanical leg with the leg-arm fusion (102) and/or the lower leg (104) and/or the joint at the end of the lower leg (104) and/or the tool to which the end of the leg-arm fusion robotic leg is attached;
  • the mechanical leg that controls the fusion of the leg and arm drives the end effector connected to the end of the mechanical leg to carry the person by grabbing the flexible object connected to the person.
  • the end effector is a grabbing device (06);
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to cut objects, and the working tool is a knife or a saw or a cutting machine;
  • the mechanical leg that controls the fusion of the leg and arm drives the operation tool connected to the end of the mechanical leg to pick items.
  • the picked items are vegetable picking or fruit picking or cotton picking or pulling plants or weeds.
  • the plants are vegetable plants, Any one or more of tree plants, seedlings, and traditional Chinese medicine plants, and the operating tool is a picker;
  • the mechanical leg that controls the fusion of the leg and arm drives the operation tool connected to the end of the mechanical leg to cultivate.
  • the cultivation refers to hoeing or planting.
  • the working tool for hoeing is a hoe, and the working tool for planting is seedling inserter;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg, and paints the working material carried by the working tool to the working object.
  • the working tool is a brushing tool, and the working material is paint or Pigment or powder or paste, the operation object refers to the wall or floor or equipment surface to be painted;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to weld objects, and the working tool is a welding tool;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to rotate the fastener to install or remove the object, the working tool is a grabbing part or the working tool is used to socket the fastening wrench or screwdriver;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to spray an object, the object is medicine or paint or powder or slurry or a fire extinguishing substance, and the working tool is a sprayer;
  • the mechanical leg controlling the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg of the fusion of the leg and arm to grab an external object higher than the frame (01) to make the device climb along the external object.
  • the second The mechanical leg (02) at the end makes the mechanical leg (02) touch the ground on the uphill section, so as to reduce the inclination angle of the crawler-type traveling mechanism (07).
  • the step S12 includes: controlling the first rotating joint (1011) included in the mechanical leg of the leg-arm fusion so that the thigh (102) is in a drooping posture and making the thigh (102) left and right relative to the base of the mechanical leg
  • the first swing joint (1012) is controlled to make the thigh (102) swing back and forth relative to the base of the mechanical leg
  • the second swing joint is controlled to make the lower leg (104) swing back and forth relative to the thigh (102).
  • the three-dimensional swing motion enables the multiple mechanical legs to produce (standard, perfect two-leg or four-leg or more) multi-leg alternating walking motion.
  • the S1-S10 scheme improves the working ability of the (multi-joint, strong and powerful, high-cost) legs and reduces the waste of resources.
  • Proposal S11 enables leg-arm fused robotic legs to be used to allow the device to climb along the external object.
  • the crawler mechanism has outstanding advantages compared with the wheel or leg mechanism when climbing stairs and crossing soft areas (beach, mud); but when entering a downhill section from a flat road or entering a flat road from an uphill section , there are serious safety problems of the front end hanging in the air and hitting the ground; the inertial thinking of the industry usually strives to keep the rack upright and reduce the inclination angle to prevent falling; the S13 scheme controls the legs at the second end (ie the rear) The lifting walking mechanism supports the ground at the rear, so that the buttocks of the equipment are turned up, and the experiment proves that it can reduce the adverse impact of the first end (ie, the front) of the equipment being suspended and hitting the ground.
  • steps S3 and S4 have a better effect. Cut items before digging or shoveling.
  • the knife and shovel are attached to the end of a fused robotic leg of the same leg arm.
  • the knife and the shovel are connected to the ends of different mechanical legs fused together, and this operation is the cooperation of multiple multifunctional mechanical legs 02.
  • the structure can be refined, non-bulky, reduce weight, reduce energy consumption when the multifunctional mechanical legs are in motion, avoid damage to the multifunctional mechanical legs 02 multifunctional mechanical legs, and prolong the service life.
  • the knife is a water knife or a laser knife.
  • the cutting machine is an electric grinding wheel cutting machine.
  • steps S7 and S8 are combined, and the specified operation is to apply mortar first and then take bricks to build walls.
  • This scheme can improve the comprehensive operation effect.
  • control method 1 includes step Z1 or step Z10 or step Z20 before performing the specified operation:
  • Z1 Obtain the pose information of the work object or obtain the orientation information of the target space
  • Z10 The mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg, so that the working tool moves from the current position of the working tool to the working position;
  • Z20 Control the movement of the mechanical leg of the leg-arm fusion and/or control the action of the working tool connected to the end of the mechanical leg of the leg-arm fusion, so as to load or grab the working material.
  • the mechanical legs (02) make the posture of the frame (01) switch between the first prone position and the standing position; the standing position is the first standing position or the second standing position.
  • the beneficial effect of the solution is that the posture switching is performed by the mechanical legs, which saves the cost of a dedicated posture adjustment mechanism.
  • a control method 3 for a movable device as described in the technical solution 3 includes steps:
  • the second lifting mechanism (222) is controlled to make the The second traveling mechanism (522) touches the ground on the uphill road section, so as to reduce the inclination angle of the crawler-type traveling mechanism (07); and/or,
  • Controlling the first elevating mechanism (211) and controlling the second elevating mechanism (222), and/or controlling the third elevating mechanism, is used for: when the mechanical leg of the leg-arm fusion is lifted off the ground to perform a designated operation. the height of the rack (01) relative to the road surface or adjust the attitude of the rack (01); or make the device switch between the first mode and the second mode;
  • the first mode is: the lower surface of the first traveling mechanism (511) and/or the lower surface of the second traveling mechanism (522) is not lower than the lower surface of the third traveling mechanism, supported by the third traveling mechanism
  • the frame (01) is off the ground and the movable equipment is driven along the road, or the machine is supported by one of the first traveling mechanism (511) and the second traveling mechanism (522) and the third traveling mechanism lift the frame (01) off the ground and drive the movable device along the road;
  • the second mode is: the lower surface of the first running gear (511) and the lower surface of the second running gear (522) are lower than the lower surface of the third running gear, and the first running gear (511) And the second walking mechanism (522) supports the frame (01) off the ground and enables the movable equipment to travel along the road.
  • the scheme of controlling the lifting mechanism to adjust the height of the frame (01) relative to the road surface or to adjust the attitude of the frame (01) is beneficial to improve the working performance.
  • the first mode is used for the first running mechanism (511) and the second running mechanism whose lower surface is not lower than the lower surface of the third running mechanism
  • Two running gears (522) leave the ground and overcome obstacles.
  • the second mode is used to enable the third traveling mechanism to overcome obstacles from the ground. This scheme improves the obstacle-surmounting ability of the equipment.
  • S4.2 Control the first linear motion mechanism (184) of the connecting bracket or control the first linear motion mechanism (184L) on the first side and the first linear motion mechanism (184R) on the second side, so that the second The base of the mechanical leg (02) on one side and the base of the mechanical leg (02) on the second side are located in the middle of the frame (01), or control the first leg root swing mechanism (19L) on the first side ) and the first leg root swing mechanism (19R) on the second side, so that the base of the mechanical leg (02) on the first side and the base of the mechanical leg (02) on the second side are located on the frame ( 01); control the first side of the mechanical leg (02) and the second side of the mechanical leg (02) to walk; and/or,
  • Step S4.1 make the (multi-joint, thick, high-cost) mechanical leg move forward and backward through the leg root motion mechanism
  • the device When the mechanical legs can reach the first end (that is, the front end), the device constitutes a robot cart mode (the front end supports the ground with legs, and the rear end supports the ground through a rolling walking mechanism).
  • This robot cart mode can make the device Drive along the road surface, and more cleverly, the rolling walking mechanism at the first end (that is, the front end) can be lifted off the ground to overcome obstacles;
  • the device When the mechanical legs can reach the second end (i.e., the rear end), the device constitutes a robot cart mode (the front end is supported by a rolling walking mechanism, and the rear section is supported by legs).
  • the equipment travels along the road surface, and more ingeniously, the rolling traveling mechanism at the second end (ie, the rear end) can be lifted off the ground to overcome obstacles.
  • the second benefit is: when the mechanical leg 02 at a certain position is disabled, the mechanical leg can be transferred through the other end of the leg root motion mechanism to replace the disabled mechanical leg 02, which increases the fault adaptability of the equipment.
  • Step S4.2 through the leg root motion mechanism, the (multi-joint, strong and powerful, high cost) mechanical leg can move back and forth to reach the middle of the frame (01), because the center of gravity of the frame is in the middle, which is beneficial to the mechanical leg (02) Walk.
  • step S4.3 the base of the mechanical leg (02) can reach the middle and upper part of the frame 01 through the swinging mechanism of the first leg root, which is beneficial for climbing.
  • Step S4.4 through the leg root motion mechanism, the (multi-joint, strong and powerful, high-cost) mechanical legs can move back and forth to reach the first end (ie front end) of the rack (01) and the middle of the rack (01) With any position in the second end (ie, the rear section) of the frame (01), the specified operation can be performed as required, which is very beneficial to improve the operation efficiency.
  • the mechanical legs of the second end i.e. the back section
  • multi-joint, strong and powerful, high cost can be called to work; if at that time the first end (i.e.
  • the original two legs are changed to four (multi-joint, strong and powerful, high-cost) mechanical legs at this time.
  • the mechanical legs of the first end i.e. the front end
  • multi-joint, strong and powerful, high cost can be called to work; if the second end (i.e. the rear end) originally There are two legs, and at this time, do the mechanical leg work that becomes 4 (multi-joint, strong and powerful, high cost).
  • Step S5.1 enables the root of the thigh 102 of the mechanical leg to go up (to the top of the head), which reverses the industry's thinking bias (legs need to be firmly fixed on the buttocks), and greatly improves the operation and climbing performance of the multifunctional mechanical leg 02 ).
  • a computer-readable storage medium wherein computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by a processor, the control method described in any one of the above is implemented.
  • control device for movable equipment, characterized in that the control device includes a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the control described in any one of the above is realized method.
  • a mobile platform is a mobile device such as technical solution 1 or any optional technical solution based on technical solution 1, or the mobile platform includes a walking mechanism for driving the mobile platform along the road surface, It is characterized in that the mobile platform includes the above-mentioned control device.
  • a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, any one of claims 1-6 is realized.
  • Branch scheme 1 of the present invention a mechanical leg with legs and arms fused, the end of which is provided with a working tool 17 or a connecting part for connecting the working tool 17, the mechanical leg and the working tool 17 are both configured for specified operations, It is beneficial to solve the problem of insufficient leg work ability and waste of resources in humanoid robots and quadruped robot dogs in the prior art (multi-joint, strong and powerful, and high cost).
  • Branch solution 2 of the present invention the device includes a leg root movement mechanism that enables the base of the mechanical leg 02 to move up and down relative to the frame 01 and/or move back and forth, so that the root of the thigh 102 can go up (to the top of the head) Or move back and forth, reversing industry thinking biases (legs need to be firmly secured with hips).
  • the leg root motion mechanism drives the mechanical leg movement so that the equipment can form (“mechanical legs walking in front + wheel shoe mechanism rolling in the back") robot pulling carts mode, "wheel-shoe mechanism rolling in front + mechanical legs walking in the back” robot cart driving mode, "porter-style” walking mode in which the legs protrude outward at both ends of the middle frame to increase load stability, mechanical legs
  • the root (not the toe) of the machine rises to the top of the frame (that is, the head) in the "leg-on-head” operation mode, and can ingeniously assist the rolling walking mechanism with high efficiency, energy saving, large bearing capacity but poor obstacle-surmounting ability Lifting off the ground, overcoming obstacles) a variety of unique working modes break through the inertia of thinking and have a variety of unexpected effects.
  • Branching scheme 3 of the present invention the rolling traveling mechanism and the legs are independently connected to the frame 01, each performing its duties, and the function planning is reasonable and clear clear; when the mechanical legs are off the ground, the rolling walking mechanism can (stable and reliable) support the frame 01 and make the equipment travel; it solves the problem of humanoid robots and quadruped robots in the prior art when the dog legs are off the ground. Inverted, belly landing problem.
  • the rolling walking mechanism is cheaper than the multi-joint legs, which is convenient to reduce the cost of the robot and the cost of use, and the load, driving speed or efficiency of the rolling walking mechanism can support Compared with the legs, the stability is higher, which is beneficial to the stability and quality of the operation of the mechanical legs.
  • the mechanical legs multi-joint, strong and powerful, high cost
  • the mechanical legs have outstanding ability to overcome obstacles, they are expensive.
  • the price of a mechanical leg and a mechanical arm that rotates around a joint with a load of 50KG at the end costs tens of thousands of RMB
  • the price of a wheel-type walking mechanism, a crawler-type walking mechanism or a leg-root motion mechanism can reach hundreds of RMB, which has a significant cost advantage and
  • the mechanism is strong and rigid.
  • the present invention on the basis of overcoming the industrial prejudice that the above-mentioned mechanical legs are mainly used for walking, does not control the legs to perform simple operations of kicking and moving objects, but uses leg operating tools to perform specified procedures homework. Skillful use of tools is the main difference between animals and humans, and also the core difference between ordinary machines and advanced robotics. This is also where the core value of the present invention lies.
  • Moving personnel is a very important core task in firefighting, medical emergency rescue, and personnel care.
  • Half of the existing technology uses hands to carry people, and it is difficult to think of carrying people with legs; even if you think of using legs to carry people, it is easy to grab objects due to industry prejudice and refer to the way of grabbing objects with mechanical arms in the prior art
  • People can easily lead to two kinds of adverse consequences: the soft manipulator with multiple fingers is unable to reliably grab and carry people, or the manipulator is hard and powerful and can easily injure people.
  • a person is transported in such a way that the mechanical legs fused with the legs and arms support the person from below the person, so that the person can be carried safely. It breaks industry prejudice and has unexpected effects. It is of great economic and social value to use the mechanical legs of the robot to safely transport people and avoid the police or rescuers from going to the dangerous scene.
  • Cutting such as tree branches, damaged buildings
  • excavating or shoveling obstruction removal
  • safely moving people with mechanical legs with fused legs and arms are important tasks for emergency rescue (fire, flood, earthquake). It has important economic and social value.
  • Fig. 1 is a perspective schematic diagram of a movable device with mechanical legs
  • Fig. 2 is a schematic diagram of a top view direction of a movable device with mechanical legs
  • FIG. 3 is a schematic diagram of a side view direction of a movable device with mechanical legs
  • Fig. 4 is a simplified structural schematic diagram of a side view direction of a movable device with mechanical legs
  • Fig. 5 is a schematic diagram of a side view direction of a movable device with a mechanical leg fused with a leg and an arm in a walking state;
  • Fig. 6 is a schematic diagram of a side view direction of a movable device containing mechanical legs
  • Fig. 7 is a schematic diagram of a side view direction of a movable device containing mechanical legs
  • Fig. 8 is a schematic diagram of a side view direction of a movable device driven by a mechanical leg pulling a cart in front;
  • Fig. 9 is a schematic diagram of a side view direction of a movable device driven by a mechanical leg behind a cart;
  • Fig. 10 is a three-dimensional schematic diagram of a mechanical leg
  • Fig. 11 is a schematic diagram of a side view direction of a mechanical leg
  • Fig. 12 is a schematic diagram of an electric push rod
  • Fig. 13 is a schematic diagram of a guide rail type motion mechanism
  • Fig. 14 is a schematic diagram of a guiding mechanism
  • Fig. 15 is a schematic diagram of a crawler-type traveling mechanism
  • Fig. 16 is a schematic diagram of a side view direction of a mobile device whose rack is in a standing position and whose mechanical legs are located on the upper part of the rack;
  • Fig. 17 is a side view direction schematic diagram of a mobile device whose rack is in a standing position mode and whose mechanical legs are located at the lower part of the rack;
  • Fig. 18 is a side view schematic diagram of a movable device with the rack in the supine mode and the mechanical legs in the middle of the rack for walking.
  • Fig. 19 is a schematic diagram of another crawler-type traveling mechanism.
  • 023 - leg of the third part 023L - leg of the third part of the first side; 023R - leg of the third part of the second side;
  • 06-grabbing device 062L-grabbing device of the end of the leg of the second end of the first side; 171-chainsaw; 172-shovel; 173-scissors;
  • 184 first linear motion mechanism
  • 184L first linear motion mechanism on first side
  • 184R first linear motion mechanism on second side
  • L and R marks when there are several components horizontally placed along the traveling direction, their labels will be followed by L and R marks, wherein L indicates that it is located on the left side of the rack along the traveling direction, and R indicates that it is located on the left side of the rack along the traveling direction.
  • the first lifting mechanism 211 is provided with two, wherein one first lifting mechanism is marked as 211L, and the other first lifting mechanism is marked as 211R, then the first lifting mechanism 211L is located on the left side of the frame along the traveling direction, and the first The lifting mechanism 211R is located on the right side of the frame along the traveling direction.
  • the second elevating mechanism 222 is provided with two, wherein one second elevating mechanism is marked as 222L, and another second elevating mechanism is marked as 222R, then the second elevating mechanism 222L is positioned at the left side of the frame along the travel direction, and the second The lifting mechanism 222R is located on the right side of the frame in the direction of travel. Others, and so on.
  • the label of the crawler-type traveling mechanism may also be 07M. 171, 172 and 173 are working tools.
  • Car driving mode "porter-style” walking mode in which the legs protrude outward at both ends of the middle rack to increase the stability of heavy-load walking, and the roots of the mechanical legs (not toes) rise to the top of the rack (that is, the head Part) of the "legs on the head” operation mode, the operation tool is operated by the legs (instead of the hands) to perform a variety of special operations...
  • the branch schemes 1, 2 and 3 in the present invention can not only be used in isolation, but can cooperate with each other to make The effect is multiplied.
  • branch plan 2 can not only greatly expand the scope of operation in branch plan 1, but also improve the quality and efficiency of the operation (such as cutting tree roots with a knife, and first cutting through the leg-root movement mechanism). Lowering the mechanical leg fused with the leg and arm to a lower position is more suitable for exerting force, making the work quality or work efficiency better; for example, using a knife to trim high branches, and first raising the mechanical leg fused with the leg and arm to a high position through the leg root movement mechanism, Make the operation quality or operation efficiency better.
  • branch scheme 2 and branch scheme 3 can also play a similar role. For example, some operations require front operations (such as excavation), and some operations require rear operations.
  • the leg root movement mechanism can move the mechanical legs to different positions according to different operation requirements, which is beneficial to improve the front part.
  • Efficiency or quality of operation the fourth movement mechanism first moves the mechanical leg of the leg-arm fusion to the rear, which can improve the efficiency or quality of the rear operation.
  • the driving direction refers to the driving direction of the rolling walking mechanism or the forward movement of the legs without steering.
  • the direction of travel is forward, the first side is the left side, and the second side is the right side.
  • the front, back, left, and right directions are bounded by the center of gravity O of the device.
  • the road surface refers to the flat road; the movable equipment is placed on the horizontal road; the rack is parallel to the flat road.
  • the direction indicated by X in the drawing is the driving direction.
  • the movable device moves in a predetermined direction X1.
  • the predetermined direction X1 is the horizontal direction.
  • the predetermined direction X1 also has a certain angle with the horizontal direction.
  • the posture of the rack 01 of the movable equipment is the first lying posture.
  • the first prone position is the posture of the device as shown in FIGS. 1-7 .
  • the first standing posture is that the head end of the frame 01 is up and the tail end of the frame 01 is down.
  • the first standing posture is straight standing.
  • the height refers to the distance in the up-down direction between the upper surface and the lower surface of the rack 01 .
  • the length refers to the distance between the front surface and the rear surface of the rack 01 along the traveling direction.
  • the first prone position is a normal, stable state. The first prone position is that the abdomen of the frame 01 faces down and the back of the frame 01 faces up. The first lying position is prone. Standing posture means that one end of the rack 01 faces up and the other end faces down, and the height of the rack 01 is greater than the length of the rack 01 at this time.
  • the posture of the frame 01 of the equipment is the first prone position: the first end of the frame 01 is located in front of the center of gravity of the equipment, the second end of the frame 01 is located behind the center of gravity of the equipment, the surface of the second area face down.
  • the body is flat and the four limbs are on the ground to walk.
  • the posture of the tiger is the first lying position.
  • the posture in which a person stands up is a standing posture.
  • the posture of people's prone position is the first prone position.
  • Embodiment 1 of a movable device includes:
  • the mechanical leg 02 located on the first side of the center of gravity O of the device and the mechanical leg 02 located on the second side of the center of gravity O of the device are connected to the frame 01;
  • the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are configured to be able to walk, and all the mechanical legs in the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are leg-arm fusion
  • a mechanical leg, the end of the mechanical leg fused with the leg arm is connected to the end effector, and the end effector is the working tool 17 or a connecting part for connecting the working tool 17;
  • the device also includes a rolling traveling mechanism 57 connected to the frame 01, which is used to support the frame 01 off the ground and make the device travel along the road; the device also includes a mechanism for making the mechanical legs
  • the base of the leg movement mechanism can realize up and down movement and/or forward and backward movement relative to the frame 01, one end of the leg movement mechanism is connected to the frame 01, and the other end of the leg movement mechanism is connected to the mechanical leg base.
  • the fused robotic leg and the work tool 17 are configured for a given task.
  • all the mechanical legs are mechanical legs with leg-arm fusion can be replaced by: the mechanical legs at the first end or the second end are mechanical legs with leg-arm fusion.
  • any walking is multi-leg alternating walking.
  • Figure 1- Figure 1- Figure 5 shows the same type of equipment
  • Figure 1 is a three-dimensional structure diagram of the equipment
  • Figure 2 is a top view
  • Figure 3 Figure 4 and Figure 5 are side views
  • the device includes four mechanical legs 02, the four mechanical legs 02 are respectively: a leg 021L at the first end of the first side, a leg 021R at the first end of the second side, and a leg 022L at the second end of the first side , the leg 022R of the second end of the second side;
  • a chainsaw 171 is connected to the end of the left front leg 021L; a shovel 172 is connected to the end of the right front leg 021R; a retrieval device 062L is connected to the end of the left rear leg 022R; scissors 173 are connected to the end of the right rear leg 022R;
  • the rolling traveling mechanism 57 includes a first traveling mechanism 511 and a second traveling mechanism 522 connected to the frame 01.
  • the first traveling mechanism 511 is located Before the center of gravity O of the equipment
  • the second traveling mechanism 522 is located behind the center of gravity O of the movable equipment, and the lower surface of the first traveling mechanism 511 and the lower surface of the second traveling mechanism 522 are lower than the frame 01
  • the surface of the second area, the first traveling mechanism 511 and the second traveling mechanism 522 are used to support the frame 01 off the ground and make the equipment travel along the road surface;
  • the first traveling mechanism 511 is a first traveling wheel and the second traveling mechanism 522 is a second traveling wheel;
  • the first traveling mechanism 511 includes the first traveling mechanism 051 arranged on the first side of the center of gravity O of the equipment and the first traveling mechanism 053 arranged on the second side of the center of gravity O;
  • the second traveling mechanism 522 includes The second traveling mechanism 052 on the first side of the center of gravity O of the equipment and the second traveling mechanism 054 arranged on the second side of the center of gravity O;
  • This rolling type running mechanism 57 comprises the 3rd running mechanism that is connected with this frame 01, and this 3rd running mechanism is crawler type running mechanism 07, when the posture of this frame 01 is the first lying position, this 3rd running mechanism
  • the lower surface of the lower surface of the frame 01 is lower than the surface of the second area of the frame 01.
  • the third traveling mechanism is used to support the frame 01 off the ground and make the equipment run along the road, and the center of gravity O of the equipment is in the front, rear, left, and right directions. There is an arrival point of the third traveling mechanism, and the third traveling mechanism is located between the first traveling mechanism 511 and the second traveling mechanism 522;
  • the equipment also includes a first lifting mechanism 211 and a second lifting mechanism 222, one end of the first lifting mechanism 211 and the second lifting mechanism 222 are connected to the frame 01, and the other end of the first lifting mechanism 211 is connected to the second lifting mechanism.
  • a walking mechanism 511, the first lifting mechanism 211 is used to lift the first walking mechanism 511 relative to the frame 01, the other end of the second lifting mechanism 222 is connected to the second walking mechanism 522, the second lifting mechanism 222 Used to make the second traveling mechanism 522 move up and down relative to the frame 01;
  • the equipment also includes the third lifting mechanism, one end of the third lifting mechanism is connected to the frame 01, the other end of the third lifting mechanism is connected to the third walking mechanism, and the third lifting mechanism is used to make the third walking mechanism The mechanism moves up and down relative to the frame 01;
  • the top 115 of the equipment is connected to the frame 01 through the top elevating mechanism 1315, and the top 115 can be lifted relative to the frame 01; the top 115 is provided with rollers 1151; side.
  • the leg motion mechanism includes: a second linear motion mechanism 121L disposed at the first end of the first side of the frame 01, a second linear motion mechanism 121R disposed at the first end of the second side of the frame 01 , the second linear motion mechanism 122L disposed at the second end of the first side of the frame 01 and the second linear motion mechanism 122R disposed at the second end of the second side of the frame 01
  • the output member of the second linear motion mechanism 121L is connected to the base of the mechanical leg 021L;
  • the output member of the second linear motion mechanism 121R is connected to the base of the mechanical leg 021R;
  • the output member of the second linear motion mechanism 122L is connected to the base of the mechanical leg 022L;
  • the output member of the second linear motion mechanism 122R is connected to the base of the mechanical leg 022R;
  • the second linear motion mechanism in any orientation above can drive the base of the mechanical leg in any orientation to move to the first area, so that the mechanical leg can perform specified operations or climb in the first area, and the second linear motion mechanism can move to the first area.
  • the motion mechanism can also drive the base of the mechanical leg to move to the second area for designated operations or walking.
  • the second linear motion mechanism 12 When the frame 01 is in a prone position: the second linear motion mechanism 12 is connected to the frame 01 in the vertical direction.
  • the center of gravity O point of the equipment is located between the first traveling mechanism and the second traveling mechanism.
  • the third running gear is located between the first running gear and the second running gear.
  • each second linear motion mechanism 12 respectively drives the base of the mechanical leg 02 connected to the output part of the mechanism to move to the upper part for the mechanical leg to move to the upper part. For assigned work or climbing.
  • each second linear motion mechanism 12 respectively drives the base of the mechanical leg 02 connected to the output part of the mechanism to move to the lower part, so that the mechanical leg can perform specified operations or walk.
  • the above-mentioned embodiment 2 is a typical embodiment in this application. Has many characteristics.
  • the device also includes a first forward and backward motion mechanism 181, and the two ends of the first forward and backward motion mechanism 181 are respectively connected
  • the first lifting mechanism 211 and the frame 01 are used to make the first traveling mechanism move forward and backward along the traveling direction.
  • the first forward and backward movement mechanism 181L on the first side and the first forward and backward movement mechanism 181R on the second side are arranged at intervals relative to the longitudinal axis.
  • the first front and rear movement mechanism 181L on the first side is connected to the first side of the frame 01 along the traveling direction,
  • the first front and rear movement mechanism 181R on the second side is connected to the second side of the frame 01 along the traveling direction,
  • the output member of the first front and rear movement mechanism 181L on the first side can drive the first traveling mechanism 051 at the first end (left front) on the first side to move back and forth, and can also drive the second linear movement mechanism arranged on this side and this position 121L and mechanical leg 021L move back and forth;
  • the output member of the first forward and backward movement mechanism 181R on the second side can drive the first traveling mechanism 053 at the first end (front right) on the second side to move back and forth, and also drive the second linear movement mechanism arranged on this side and this position 121R and mechanical leg 021R move back and forth;
  • the device also includes a second forward and backward movement mechanism 182, the two ends of the second forward and backward movement mechanism 182 are respectively connected to the second traveling mechanism and the frame 01, and are used to move the second traveling mechanism forward and backward along the traveling direction .
  • a second forward and backward movement mechanism 182 the two ends of the second forward and backward movement mechanism 182 are respectively connected to the second traveling mechanism and the frame 01, and are used to move the second traveling mechanism forward and backward along the traveling direction .
  • the second forward and backward movement mechanism 182L on the first side and the second forward and backward movement mechanism 182R on the second side are arranged at intervals relative to the longitudinal axis
  • the second forward and backward movement mechanism 182L on the first side is connected to the first side of the frame 01 along the traveling direction,
  • the second front and rear movement mechanism 182R on the second side is connected to the second side of the frame 01 along the traveling direction,
  • the output member of the second front and rear movement mechanism 182L on the first side can drive the second traveling mechanism 052 at the second end (left rear) on the first side to move back and forth, and can also drive the second linear movement arranged on this side and this position Mechanism 122L and mechanical leg 022L move back and forth;
  • the output part of the second front and rear movement mechanism 182R of the second side can drive the second traveling mechanism 054 front of the second end (right rear) of the second side. Back movement, and can also drive the second linear motion mechanism 122R and the mechanical leg 022R arranged on this side and this part to move forward and backward.
  • Figure 6 and Figure 7 are schematic diagrams of the same device;
  • Figure 6 and Figure 7 are side views;
  • Figure 16, Figure 17 and Figure 18 are A schematic diagram of the same device;
  • Embodiment 3 based on Embodiment 1: Based on the equipment shown in Embodiment 1,
  • the device includes two mechanical legs 02, the number of legs 02 on the first side is one, and the number of legs 02 on the second side is also one;
  • the leg motion mechanism includes a first linear motion mechanism 184L disposed on the first side of the frame 01 and a first linear motion mechanism 184R disposed on the second side of the frame 01;
  • the base of the first linear motion mechanism 184L on the first side is connected to the frame 01, and the output member of the first linear motion mechanism 184L on the first side is connected to the base of the mechanical leg of the leg-arm fusion on the first side. seat; the first linear motion mechanism 184L on the first side is used to: drive the base of the mechanical leg on the first side to move between the first end of the frame 01 and the second end of the frame 01;
  • the base of the first linear motion mechanism 184R on the second side is connected to the frame 01, and the output member of the first linear motion mechanism 184L on the second side is connected to the base of the mechanical leg of the leg-arm fusion on the second side. seat; the first linear motion mechanism 184R on the second side is used to: drive the base of the mechanical leg on the second side to move between the first end of the frame 01 and the second end of the frame 01;
  • the rolling traveling mechanism 57 includes a first traveling mechanism 511 and a second traveling mechanism 522 connected to the frame 01.
  • the first traveling mechanism 511 is located Before the center of gravity O of the equipment
  • the second traveling mechanism 522 is located behind the center of gravity O of the movable equipment, and the lower surface of the first traveling mechanism 511 and the lower surface of the second traveling mechanism 522 are lower than the frame 01
  • the surface of the second area, the first traveling mechanism 511 and the second traveling mechanism 522 are used to support the frame 01 off the ground and make the equipment travel along the road surface;
  • the first traveling mechanism 511 is a first traveling wheel and the second traveling mechanism 522 is a second traveling wheel.
  • the rolling traveling mechanism 57 includes a third traveling mechanism connected to the frame 01.
  • the basic structures of the top views in FIG. 6 , FIG. 7 , FIG. 8 , FIG. 9 , FIG. 16 , FIG. 17 and FIG. 18 are all similar to those in FIG. 2 .
  • the difference is that if the device includes two legs, the two legs are respectively arranged on the left and right sides of the center of gravity O of the device. If the device includes 4 legs, the 4 legs are respectively arranged at the left front, right front, left rear and right rear of the center of gravity O point of the device.
  • the movable device as described in Embodiment 1 the device includes two mechanical legs 02, the number of the first side leg 02L is one, and the number of the second side leg 02R is also one;
  • the leg root movement mechanism includes a connecting bracket
  • the first linear motion mechanism 184, the first linear motion mechanism 184 is arranged below the frame 01, the base of the first linear motion mechanism 184 is connected to the frame 01, the first linear motion mechanism 184
  • the output member is connected to the bracket, the first side part of the bracket is connected to the base of the leg-arm fusion mechanical leg on the first side, and the second side part of the bracket is connected to the leg-arm fusion robot leg on the second side. base.
  • the first linear motion mechanism is used to: drive the base of the mechanical leg 02L on the first side and the base of the mechanical leg 02R on the second side to connect with the first end of the frame 01 01 to move between the second ends.
  • the first linear motion mechanism is used to: drive the base of the mechanical leg 02L on the first side and the base of the mechanical leg 02R on the second side to connect with the first end of the frame 01 01 or between the middle of the rack 01 and the second end of the rack 01.
  • Figure 6 and Figure 7 show the same type of equipment.
  • Figures 8 and 9 show the same type of equipment.
  • the output part of the first linear motion mechanism drives the base of the mechanical leg to move to the first end (front) of the frame 01, at this time the equipment can form a "mechanical The unique driving mode of "legs pulling the car in front", and the mechanical legs supporting the ground help the first walking wheel 511 to lift off the ground and overcome obstacles, which solves the pain point of the wheel mechanism with high efficiency and heavy load but poor obstacle ability.
  • the output part of the first linear motion mechanism drives the base of the mechanical leg to move to the second end (rear) of the frame 01, at this time the equipment can form a "mechanical
  • the unique driving mode of "legs in the backward car” helps the second walking wheel 522 to lift off the ground and overcome obstacles, which solves the pain point of the wheel mechanism with high efficiency and heavy load but poor obstacle ability.
  • the rack 01 of the equipment is in the first standing position, and the base of the mechanical leg reaches the first end of the rack 01, that is, the top of the rack (equivalent to the position above the head) driven by the first linear motion mechanism , which is very conducive to high-level operations and climbing at this time.
  • the base of the mechanical legs reaches the second end of the frame 01; at this time, the frame 01 of the equipment is in the first standing position; that is, the base of the mechanical legs reaches The bottom of the rack (equivalent to the tail position), constitutes a standard human-like walking pattern with the body standing upright and the legs on the ground, which is very conducive to low-position operations at this time.
  • the frame 01 of the equipment is in the supine position, that is, the second prone position.
  • the base of the mechanical legs reaches the middle of the frame 01, because the loads at both ends of the equipment Relatively balanced, a unique "porter-style" walking pattern is formed at this time.
  • porters pick goods people stand in the middle and goods are on both sides (the balance is good, so they can pick up heavier burdens). Stability of walking.
  • the first linear motion mechanism 184 is disposed under the frame 01 instead of: the first linear motion mechanism 184 is disposed on the first side or the second side of the frame 01 .
  • the base of the first linear motion mechanism is connected to the frame 01 along the front-rear direction, and moves between the first end of the frame 01 and the second end of the frame 01 ie moves forward and backward.
  • the output member of the first linear motion mechanism is connected to the base of the mechanical leg 02 .
  • Embodiment 5 based on Embodiment 1: the movable device as described in Embodiment 1, the leg movement mechanism includes a first leg swing mechanism 19L arranged on the first side of the frame 01, the first leg swing mechanism 19L The base of the first leg swing mechanism 19L on one side is connected to the frame 01, and the rotation axis of the first leg swing mechanism 19L on the first side points to the left and right, and the first leg swing mechanism on the first side The output of mechanism 19L is connected to the base of the robotic leg of the leg-arm fusion on the first side;
  • the first leg root swing mechanism 19L on the first side is used to: drive the base of the mechanical leg on the first side at the first end of the first side of the frame 01 and the middle part of the first side of the frame 01 swing between the second end of the first side of the rack 01;
  • the leg movement mechanism includes a first leg swing mechanism 19R arranged on the second side of the frame 01, the base of the first leg swing mechanism 19R on the second side is connected to the frame 01, and the The rotation axis of the first leg swing mechanism 19R on the second side points to the left and right, and the output part of the first leg swing mechanism 19R on the second side is connected to the base of the mechanical leg of the leg-arm fusion on the second side;
  • the first leg swing mechanism 19R on the second side is used to: drive the base of the mechanical leg on the second side at the first end of the second side of the frame 01 and the middle part of the second side of the frame 01 swing between the second end and the second side of the rack 01.
  • the purpose of the first leg root swing mechanism 19L on the first side is replaced by: the base for driving the mechanical leg on the first side is on the first side of the first side of the frame 01 One end, the middle of the first side of the rack 01 and the second end of the first side of the rack 01 can swing between any two positions.
  • the purpose of the first leg swing mechanism 19R on the second side is replaced by: the base for driving the mechanical leg on the second side is on the second side of the frame 01 One end, the middle of the second side of the rack 01 and the second end of the second side of the rack 01 can swing between any two positions.
  • the rotation mechanism of the first leg root swing mechanism may adopt a gear set mechanism or a worm gear mechanism.
  • the first leg root swing mechanism is a worm gear mechanism which can self-lock.
  • the first end on both sides of the frame 01, the middle part of the frame 01 and the second end of the frame 01 are provided with a locking mechanism, when the movable end of the first leg swing mechanism swings to where the locking mechanism is located position, the locking mechanism can lock the movable end so that the movable end is firmly fixed at the position of the locking mechanism.
  • the first linear motion mechanism 184, the second linear motion mechanism 12, and the first leg root swing mechanism can arbitrarily constitute a multi-dimensional motion mechanism.
  • the base of the multi-dimensional motion mechanism is connected to the frame 01, and the output part is connected to the base of the mechanical leg 02.
  • the base of the first leg swing mechanism 19L on the first side is installed on the outer edge of the middle part of the first side of the frame; the base of the first leg swing mechanism 19R on the second side Installed on the outer edge of the middle part of the first side of the frame; and the rotation axis of the base points to the left and right, so that the swing arm of the first leg swing mechanism can swing up and down relative to the frame 01.
  • the length of the swing arm of the first leg root swing mechanism can be set to be close to 1/2 the length of the frame.
  • the approximation may be equal to. For example, as shown in FIG. 6 or FIG.
  • the first linear motion mechanism 184 on the first side is canceled, and the base of the first leg swing mechanism 19L on the first side is installed on the first side of the center of gravity O point.
  • the location of the outer edge of the rack For example, as shown in Figure 18, the first linear motion mechanism 184 on the first side is canceled, and the base point of the first leg swing mechanism 19L on the first side is set at the intersection of the leg 02L and the leg 02R in the up and down position. place.
  • the base of the first leg swing mechanism 19L is mounted on the edge of the first side of the frame at the intersection.
  • the base of the mechanical leg 02 on the first side of the first end of the frame 01 and the base of the mechanical leg 02 on the second side are connected through a second bracket.
  • the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are disconnected from the frame 01, the mechanical leg 02 on the first side and the mechanical leg 02 on the second side connected by the second bracket Able to walk along the road independently of the device. Disengagement or separation is the breaking of a mechanical connection.
  • the first end of the rack 01 can be replaced by the middle of the rack 01 or the second end of the rack 01 .
  • the mechanical legs 02 on the first side and the mechanical legs 02 on the second side are connected by the second bracket, that is, a pair of mechanical legs 02 .
  • the number of pairs of mechanical legs 02 is not limited to one pair.
  • the number of paired mechanical legs can also be two pairs, for example, the two pairs can be the first rack 01 of the equipment.
  • the number of mechanical legs is four.
  • the mechanical leg 02 on the first side and the mechanical leg 02 on the second side connected by the second bracket have a battery for the legs and a walking control device that can be independent of the device.
  • the leg battery is used to provide power for the pair of mechanical legs
  • the walking control device is used to control the pair of mechanical legs to walk along the road.
  • the walking control device has a second communication module
  • the control device of the equipment has a first communication module.
  • the second communication module and the first communication module can communicate with each other.
  • the control device of the device can control the walking control device through the communication module, that is, the control device of the device can control the pair of mechanical legs through the communication module.
  • Fig. 1 to Fig. 7, optional embodiment 3 the equipment described in embodiment 1, embodiment 2 or embodiment 3,
  • the first traveling mechanism 511 is the first traveling wheel and the second traveling mechanism 522 is the second traveling wheel.
  • the wheeled traveling gear has a second battery and a second control device that can be independent of the device.
  • the second battery is used to provide power for the wheeled running mechanism
  • the second control device is used to control the rolling running mechanism to walk along the road surface.
  • the second control device has a third communication module, and the control device of the equipment has a first communication module.
  • the third communication module and the first communication module can communicate with each other.
  • the control device of the equipment can control the second control device through the communication module, that is, the control device of the equipment can control the wheeled traveling mechanism through the communication module.
  • the edge of the first end of the first traveling mechanism 511 is located in front of the edge of the first end of the surface of the frame 01 close to the second area;
  • the edge of the second end of the second traveling mechanism 522 is located behind the edge of the second end of the surface of the frame 01 close to the second area.
  • the mobile device includes road wheels connected to the first region of the first end of the frame 01, when the frame 01 is in the first prone position: the first The upper surface of the road wheels in the first area of one end is higher than the surface of the first area of the first end of the frame 01, and the edge of the first end of the road wheels in the first area of the first end is located at the frame In front of the edge of the first end of the surface of O1 close to the first region.
  • the movable device according to Embodiment 4 includes road wheels 502 connected to the first area of the second end of the frame 01, when the posture of the frame 01 is the first lying posture: the upper surface of the road wheels 502 in the first area of the second end is higher than the surface of the first area of the second end of the frame 01, and the edge of the second end of the road wheels 502 in the first area of the second end is located The rear of the edge of the second end of the surface of the frame 01 close to the first area.
  • the edge of the second end of the second traveling mechanism 522 is behind the edge of the second end of the surface of the frame 01 close to the second area, and the edge of the first area of the second end is The edge of the second end of the road wheel 502 is located behind the edge of the second end of the surface of the frame 01 close to the first area;
  • the second traveling mechanism 522 can support the frame 01 near the second end of the surface of the second area
  • the edge is off the ground, and the walking wheels 502 in the first area of the second end can support the edge of the second end of the surface of the frame 01 close to the first area, so that the equipment can travel flexibly even when it is in the first standing position. Adjusting the working position is very helpful to improve the working efficiency and working performance.
  • the road wheels 501 in the first area of the first end are not shown in the accompanying drawings, with the same logic, refer to Embodiment 3 and Embodiment 4 to set the first traveling mechanism 511 and the road wheels 501 in the first area of the first end.
  • the first running mechanism 511 can support the first part of the surface of the frame 01 close to the second area.
  • the edge of the end is off the ground, and the walking wheels 501 in the first area of the first end can support the edge of the first end of the frame 01 near the surface of the first area, so that the equipment can be lifted even when it is in the second standing position.
  • Flexible driving and adjustment of working position are very helpful to improve working efficiency and working performance.
  • the first traveling mechanism 511 and the second traveling mechanism 522 are all connected to drivers (being powered wheels), and the traveling wheels 501 in the first region of the first end and the traveling wheels 502 in the first region of the second end have no driver ( but slideable). At this time, the comprehensive cost performance is the best.
  • the device as described in embodiment 1, embodiment 2 or embodiment 3, the first traveling wheel and the second traveling wheel are in-wheel motors.
  • the in-wheel motor refers to a motor that drives the road wheel to rotate and a brake for braking the road wheel in the housing of the road wheel.
  • the hub motor can make the traveling wheel and drive small in size, light in weight and simplified in structure.
  • Fig. 1 to Fig. 5 optional embodiment 6: the mobile device as described in embodiment 1 and embodiment 2,
  • the caterpillar 07 has a third battery and a third control device which can be independent of the device.
  • the third battery is used to provide power for the rolling running mechanism
  • the third control device is used to control the crawler running mechanism 07 to walk along the road.
  • the device has a fourth communication module, the control device of the device has a first communication module.
  • the fourth communication module and the first communication module can communicate with each other.
  • the control device of the equipment can control the third control device through the communication module, that is, the control device of the equipment can control the crawler-type traveling mechanism 07 through the communication module.
  • a linear motion mechanism or a linear moving mechanism is a linear drive mechanism.
  • the first traveling mechanism 511 is a first distributed crawler mechanism.
  • the second traveling mechanism 522 is a second distributed crawler mechanism.
  • the rolling traveling mechanism 57 only includes the first traveling mechanism 511 and the second traveling mechanism 522 connected to the frame 01 .
  • the equipment does not have the rolling walking mechanism 57, and the equipment only includes a leg-heel motion mechanism.
  • the rolling traveling mechanism 57 only includes a third traveling mechanism connected to the frame 01, and the third traveling mechanism is a crawler-type traveling mechanism 07.
  • any lifting mechanism can be a linear motion mechanism vertically connected to the frame 01 .
  • Any lifting mechanism includes a top lifting mechanism 1315 and a rolling element lifting mechanism 21 .
  • the linear motion mechanism is an electric push rod.
  • the linear motion mechanism is a telescopic hydraulic cylinder or a telescopic air cylinder.
  • the second linear motion mechanism 12 is a rail type motion mechanism.
  • the types of the first forward and backward movement mechanism and the second forward and backward movement mechanism are electric push rods.
  • the front and rear movement mechanisms are telescopic hydraulic cylinders or telescopic air cylinders.
  • the first linear motion mechanism is a guide rail type motion mechanism.
  • the optional first linear motion mechanism is an electric push rod or a telescopic hydraulic cylinder.
  • the crawler-type traveling mechanism 07 includes a base, a first track wheel 0721 connected to the base, a second track wheel 0722 and a track 070, and the track 070 is sleeved on the first track wheel 0721 and Second Track Wheel 0722.
  • the base is the stand.
  • the crawler running mechanism 07 includes a crawler running mechanism on the first side and a crawler running mechanism on the second side.
  • the area formed by connecting the outer four corners of the crawler belt 0701 included in the crawler-type traveling mechanism on the first side and the crawler belt 0702 included in the crawler-type traveling mechanism on the second side in sequence in the direction of the top view includes the center of gravity of the equipment O.
  • Each contact point of the crawler-type traveling mechanism is the four corners of the crawler belt 0701 on the first side and the crawler belt 0702 on the second side.
  • the track 0701 on the first side is sleeved on the first track wheel 0721 on the first side and the second track wheel 0722 on the first side.
  • the track 0702 on the second side is sleeved on the first track wheel 0721 on the second side and the second track wheel 0722 on the second side.
  • the lifting mechanism corresponding to the crawler-type traveling mechanism 07 may also be the first lifting mechanism 211 and the second lifting mechanism 222 .
  • the optional connection schemes are as follows:
  • the output member of the first lifting mechanism 211L at the first end of the first side is connected to the base of the crawler-type traveling mechanism at the first end of the first side;
  • the output member of the second lifting mechanism 222L at the second end of the first side is connected to the base of the crawler-type traveling mechanism at the second end of the first side;
  • the output member of the first lifting mechanism 211R at the first end of the second side is connected to the base of the crawler-type traveling mechanism at the first end of the second side;
  • the output member of the second lifting mechanism 222R at the second end of the second side is connected to the base of the crawler-type traveling mechanism at the second end of the second side.
  • connection methods can also be used: for example, the base of the crawler-type traveling mechanism on the first side is only connected to the output member of the first lifting mechanism 211L on the left, and the base of the crawler-type traveling mechanism on the second side is only connected to the first lifting mechanism 211L on the right.
  • the output member of the second lifting mechanism 222R can also be used: for example, the base of the crawler-type traveling mechanism on the first side is only connected to the output member of the first lifting mechanism 211L on the left, and the base of the crawler-type traveling mechanism on the second side is only connected to the first lifting mechanism 211L on the right.
  • the output member of the second lifting mechanism 222R can also be used: for example, the base of the crawler-type traveling mechanism on the first side is only connected to the output member of the first lifting mechanism 211L on the left, and the base of the crawler-type traveling mechanism on the second side is only connected to the first lifting mechanism 211L on the right.
  • the output member of the second lifting mechanism 222R
  • Embodiment 1 and Embodiment 2 four third lifting mechanisms are provided, for example, the third lifting mechanism 212L at the first end and the first side, the third lifting mechanism 212R at the first end and the second side, The third elevating mechanism 221L at the second end and the first side and the third elevating mechanism 221R at the second end and the second side can be respectively connected to the bases at the left front, left rear, right front and right rear corners of the rolling traveling mechanism .
  • the equipment includes a first traveling mechanism 511 and a second traveling mechanism 522 .
  • the crawler-type traveling mechanism 07m is arranged at the middle part of the equipment, and the base of the crawler-type traveling mechanism 07 is connected to the output members of the 4 third lifting mechanisms.
  • One end of the third lifting mechanism is connected to the frame 01, and the other ends of the four third lifting mechanisms are respectively connected to the bases of the crawler-type traveling mechanism 07m located at the left front, left rear, right front and right rear corner; the third lifting mechanism is used for The crawler-type traveling mechanism 07 is raised and lowered relative to the frame 01 .
  • connection mode of the third elevating mechanism shown in the present embodiment 1 and embodiment 2 and the crawler-type traveling mechanism 07 is as follows:
  • the first end and the output member of the third lifting mechanism 212L on the first side are connected to the base of the crawler-type traveling mechanism on the first side of the first end;
  • the output member of the third lifting mechanism 212R at the first end and the second side is connected to the base of the crawler-type traveling mechanism at the second side of the first end;
  • the second end and the output member of the third lifting mechanism 221L on the first side are connected to the base of the crawler-type traveling mechanism on the first side of the second end;
  • the output member of the third lifting mechanism 221R at the second end and on the second side is connected to the base of the crawler-type traveling mechanism on the second side of the second end.
  • connection between any kind of rolling traveling mechanism and the rolling element lifting mechanism can be deduced to obtain an accurate connection scheme.
  • the rolling element lifting mechanism 21 is the first lifting mechanism 211 and/or the second lifting mechanism 222 and/or the third lifting mechanism.
  • the rolling traveling mechanism 57 is the first traveling mechanism 511 and/or the second traveling mechanism 522 and/or the third traveling mechanism.
  • rolling walking mechanism Wheeled running gear and/or tracked running gear The rolling walking mechanism is set in the middle and lower part of the equipment.
  • the rolling traveling mechanism can support the frame 01 and can drive movable equipment to travel along the road. Supporting the frame 01 especially refers to supporting the frame 01 off the ground.
  • the rolling walking mechanism refers to the rolling of rolling parts along the road surface to make the movable equipment travel along the road surface.
  • the rolling elements are road wheels and/or tracks.
  • the lower surface of the rolling traveling mechanism when supporting the frame 01 off the ground is located under the frame 01.
  • the walking wheel is the wheel mechanism.
  • the connection wheel in any place refers to the shaft of the connection wheel.
  • a plurality of first traveling mechanisms 511 can be connected to a first lifting mechanism 211, or each plurality of first traveling wheels 511 can be connected to a corresponding first lifting mechanism 211; each plurality of second traveling mechanisms 522 can be connected to a second lifting mechanism 211.
  • the mechanism 222 or the plurality of second traveling wheels 522 are correspondingly connected to a second lifting mechanism 222 .
  • Corresponding connection refers to separate connection or respectively corresponding connection.
  • Any elevating mechanism is connected with any traveling wheel, all refers to the axle that elevating mechanism is connected traveling wheel.
  • the traveling wheels are rotatably connected to the output member of the lifting mechanism.
  • the scheme of connecting any rolling type traveling mechanism to the lifting mechanism is: after the connection, the traveling mechanism can walk normally. Any road wheel is a rotatable connection lifting mechanism.
  • the shaft of the road wheel 051 at the first end (left front) of the first side is connected to the first lifting mechanism 211L of this orientation, and the walking of the first end (right front) of the second side
  • the shaft of wheel 053 is connected to the first elevating mechanism 211R on the right side
  • the shaft of the road wheel 052 at the second end (left rear) on the first side is connected to the second elevating mechanism 222L on the left side
  • the second end (right rear) on the second side is connected to the second elevating mechanism 222L on the left side.
  • the axle of the walking wheel 054 of rear) is connected to the second elevating mechanism 222R on the right side.
  • the first elevating mechanism 211 is connected to the frame 01 in the vertical direction, and the first traveling mechanism is located below the frame 01 and connected to the first elevating mechanism 211, so that the output member of the first elevating mechanism 211 is vertically connected to the frame 01.
  • Direction stretching or lifting to adjust the support length of the first lifting mechanism 211, thereby adjusting the vertical height of the frame 01, or the height of the frame 01 remains unchanged, and the first lifting mechanism 211 can make the first traveling mechanism relative to the machine
  • the frame 01 is close to the predetermined distance, so that the first traveling mechanism is separated from the ground, so that the first traveling mechanism can cross the obstacle from above the obstacle.
  • the height of the lower surface of the first traveling mechanism is not less than the height of the upper surface of the obstacle; or the first lifting mechanism 211 can make the first traveling mechanism far away from the frame 01 by a predetermined distance, so that the first traveling mechanism touches the ground .
  • the connection of other lifting mechanisms and corresponding running mechanisms can be carried out sequentially.
  • Raising the traveling mechanism to overcome obstacles means: raising the lower surface of the traveling mechanism to a height not lower than the upper surface of the obstacle so that the traveling mechanism can overcome obstacles.
  • Enabling the running gear to overcome obstacles refers to placing the running gear on the obstacle or making the running gear pass above the obstacle.
  • Overcoming obstacles is the goal.
  • Making the traveling mechanism rise is the means of surmounting obstacles.
  • the traveling mechanism is raised, not all the traveling mechanisms in the equipment are raised, but the (one or two) traveling mechanisms close to the obstacle are raised and lowered.
  • the walking mechanism contained in the rolling walking mechanism group that can be lifted in sections is called the lifting walking mechanism.
  • the first running gear, the second running gear and the third running gear are liftable running gears.
  • all components are configured not to interfere with each other.
  • the lower surface of any running gear can be lower than the lower surface of the frame 01.
  • any one of the mechanical legs 02 on the first side and the mechanical legs 02 on the second side includes: first joints connected in sequence part 101, thigh 102, second joint part 103 and calf 104, the second joint part 103 includes a second swing joint for enabling the calf 104 to swing back and forth relative to the thigh 102, the base of the mechanical leg refers to the The base of the first joint included in the first joint part 101 , the end of the mechanical leg is the end of the lower leg 104 .
  • the first joint part 101 includes a first swing joint 1012 enabling the thigh 102 to swing back and forth relative to the base of the mechanical leg.
  • the first joint part 101 further includes a first rotary joint 1011 for rotating the leg, and the first rotary joint 1011 is connected to the first swing joint 1012 .
  • Both the first rotary joint 1011 and the first swing joint 1012 belong to the first joint part 101 . Since the second joint part 103 only includes the second swing joint, the second joint part 103 is the second swing joint.
  • the connection of the first joint part 101 to the frame 01 means that the base of the first rotary joint 1011 is connected to the frame 01 .
  • the connection surface between the mechanical leg 02 and the frame 01 can be at F of the first rotary joint 1011 , and the connection surface of the first end (for example, the first end (front)) leg 021 is connected to the front facing surface of the frame 01 .
  • the connection face of the second end (eg rear) leg 022 connects the rear facing face of the frame 01 .
  • the base of the mechanical leg 02 is the base of the first rotary joint 1011 .
  • the axis A1 of the output member of the first rotary joint 1011 is the rotation axis of the joint.
  • the first swing joint 1012 is used to adjust the included angle ag2 of the thigh 102 relative to the base of the mechanical leg.
  • the axis of the thigh 102 is perpendicular to the output shaft of the first swing joint 1012 .
  • the rotation axis A3 of the second swing joint 103 is parallel to the rotation axis A2 of the first swing joint 1012 .
  • the second swing joint 103 is used to adjust the included angle ag3 of the lower leg 104 relative to the upper leg 102 .
  • the axis A4 of the lower leg 104 is perpendicular to the output axis A3 of the second swing joint 103 .
  • the arrangement of the series of joints enables both the thigh 102 and the lower leg 104 to swing back and forth.
  • the end of the mechanical leg is connected to the end effector through the third joint part 105 , and the third joint part 105 is used to adjust the posture of the end effector.
  • the third joint part 105 includes a joint 1052 for swinging the end effector relative to the lower leg 104, when the When the mechanical leg is used for walking, the joint 1052 can make the end effector swing up to prevent the end effector from touching the ground.
  • the third joint part includes three joints connected in sequence to adjust the attitude of the end effector in three-dimensional space.
  • the mechanical leg is configured such that when the mechanical leg is used for walking, the lower surface of the ground-supporting part of the mechanical leg is lower than the lower surface of the output member of the joint 1052, and the joint 1052 can make the end effector put.
  • the parts for supporting the ground are feet. Further, the foot is connected with sole 106A.
  • the three joints are the joint 1051 for the first terminal rotation, the joint 1052 for swinging the end effector relative to the lower leg 104, and the joint 1053 for the second terminal rotation, which are sequentially connected.
  • the used joint 1051 is used to rotate the end effector around the axis of the output shaft of the joint 1051
  • the joint 1053 used for the second end rotation is used to rotate the end effector around the axis A6 of the output shaft of the joint 1053 .
  • the output shaft of the joint 1051 for the first end rotation is parallel to (or coincides with) the axis A4 of the lower leg 104 .
  • the output axis of the joint 1052 is perpendicular to the output axis of the joint 1051 .
  • the joint 1052 is used to adjust the angle ag5 of the terminal device relative to the lower leg 104 .
  • the output axis of the joint 1053 is perpendicular to the output axis of the joint 1052 .
  • the number of the first joint part 101 and the second joint part 103 connected in sequence is one.
  • the first joint part 101 is the first joint part included in the mechanical leg.
  • the number of joints included in the first joint part 101 may be multiple.
  • the first joint included in the first joint part 101 is the first rotary joint 1011 .
  • the first joint included in the first joint part 101 is the first swing joint 1012 .
  • the first joint refers to the joint of the mechanical leg that is closest to the rack 01 of the equipment in connection relationship. Any mechanical leg is connected to the frame 01 of the equipment through the first joint portion 101 of the mechanical leg.
  • the first joint must be the joint included in the first joint part 101 of the mechanical leg.
  • the base of the first joint is the base of the mechanical leg.
  • Fig. 1 to Fig. 5 Please refer to Fig. 1 to Fig. 5: Further, according to the device described in Embodiment 1, when the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are used for walking, the mechanical leg 02 on the first side The output axis of the first joint included in any one of the mechanical legs 02 and the second mechanical leg 02 points forward and backward.
  • the output shaft of the first joint included in the mechanical leg points downward and the root of the thigh 102 included in the mechanical leg 02 is located below the base of the first joint.
  • the driver of each joint in the mechanical leg 02 is a rotary driver.
  • the rotary drive enables the swing angle of the output parts of each joint to be greater than 180 degrees. Increased working flexibility and/or working range compared to a drive with a linear drive.
  • the rotary driver is a rotary motor.
  • the drivers of the first swing joint 1012 and the second swing joint 103 are linear drives.
  • Linear actuators can achieve high-power operations at low cost.
  • the driver of the second swing joint 103 is a linear driver 103A, for example, the linear driver 103A is an electric push rod.
  • the linear actuator 103A is a telescopic hydraulic cylinder
  • the first joint part is the hip joint; the first connecting rod is the thigh; the second joint part is the knee joint; the second connecting rod is the lower leg; the third joint part is the ankle joint; the end effector is the foot.
  • the end effector is the end appliance.
  • the thigh is the thigh link, the first link.
  • the shank is the shank link and is the second link.
  • the mechanical leg of leg-arm fusion is the body mechanism of leg-arm fusion.
  • the leg is the limb; the base of the mechanical leg is the base of the limb; the first joint also has the function of the shoulder joint; the thigh also has the function of the big arm; the second joint also has the function of the elbow function; the lower leg also has the function of the forearm; part or all of the joints in the third joint also have the function of the wrist; the end effector also includes the fetching device and/or working tools.
  • the fused robotic leg of this leg-arm is used as an arm when used for a specified task.
  • the first joint is the shoulder joint; the first link is the arm; the second joint is the elbow; the second link in the robotic arm is the forearm; the third joint is the wrist.
  • one or two rollers 106 can be provided at the end of each mechanical leg 02 .
  • the roller 106 is connected to the end of the lower leg 104 of the mechanical leg 02 , and more specifically, the roller 106 is connected to the output member of the first end rotating joint 1051 in the third joint part of the lower leg 104 of the mechanical leg 02 .
  • the joint 1051 for the rotation of the first end is also used to drive the connected roller 106 to turn.
  • the rollers 106 at the ends of at least two mechanical legs 02 are connected to the drives.
  • the driver is used to drive the roller to make the device run along the road. In order to save energy and optimize the structure or mechanical layout, the diameter or weight of the roller is smaller than that of the traveling wheel in the rolling traveling mechanism.
  • the solution of the roller 106 can also refer to FIG. 11 .
  • the walking direction of the plurality of mechanical legs 02 is consistent with the traveling direction of the rolling traveling mechanism 57 .
  • the rolling traveling mechanism can make the device travel along the road.
  • the mechanical leg 02 stands on the ground, the lower surface of the mechanical leg 02 can be lower than the lower surface of the rolling walking mechanism 57 .
  • the device has 6 legs, in addition to the above four legs, it also includes the middle leg 023L on the first side and the middle leg 023R on the second side.
  • walking refers to alternating walking.
  • Alternate walking refers to walking with a plurality of mechanical legs 02 alternately supporting and lifting off the ground. Each mechanical leg in the plurality of mechanical legs 02 will support and lift off the ground alternately.
  • Alternating touchdown and liftoff refers to touchdown and liftoff during a first period of time and liftoff during a second period of time different from the first period of time. And the ground support and lift off will repeat the cycle. Specifically, each mechanical leg supports the ground
  • the control of lift and lift belongs to the category of gait control. The gait control can be performed with reference to the prior art in the background art, and will not be repeated herein.
  • walking refers to multi-leg alternating walking. Walking is different from jumping and moving.
  • Walking refers specifically to the walking of humans or quadrupeds with alternating legs. Each leg must alternately hold and swing off the ground while walking.
  • Multi-legged walking refers to walking with at least two legs crossed instead of on the floor. Alternate that is, alternately hold and lift off the ground. Alternate multi-leg walking is multi-leg alternate ground-supporting walking. In this paper, the leg at any place is the mechanical leg.
  • the underwater propulsion device is a propeller or a mechanical leg capable of performing a stroke.
  • the mechanical leg 02 is connected to the frame 01 , which means that the base of the mechanical leg is connected to the frame 01 .
  • the legs are the thigh 102 and the calf 104 .
  • Leg rotation refers to rotation of the upper leg 102 and lower leg 104 .
  • Leg rotation refers in particular to thigh 102 rotation.
  • Alternate multi-leg walking is multi-leg alternating walking. Walking with alternating legs is equivalent to walking with alternating legs.
  • the base of the mechanical leg refers to the base of the first joint included in the first joint part 101 included in the mechanical leg.
  • the end of the mechanical leg is the end of the lower leg 104 included in the mechanical leg.
  • connection portion is the installation portion.
  • the connecting part for connecting the working tool 17 is the grabbing device 06 .
  • This connection is fetched.
  • the end of the fused robotic leg has a connection portion for connecting to a grasping device 06 configured to have the ability to grasp a working tool 17 for a specified operation or has a connection portion for connecting a work tool .
  • the grasping device 06 includes: a linear movement mechanism 06_2 for picking up objects, one end of the linear movement mechanism 06_2 is connected to the end of the mechanical leg for leg-arm fusion, and the other end is connected to the For the hook 06_3 that hooks the object, the linear movement mechanism 06_2 is used to drive the hook 06_3 to move linearly to grab the object or release the object.
  • the object is the work tool 17 or work object or work material.
  • the end of the mechanical leg is the output member of the joint 1053 for the rotation of the second end of the mechanical leg.
  • the linear movement mechanism 06_2 drives the hook 06_3 to move outward along the movement axis of the linear movement mechanism to release external objects.
  • the linear movement mechanism 06_2 drives the hook 06_3 to move inward along the movement axis of the linear movement mechanism to grab external objects.
  • For the outward direction please refer to the direction indicated by the OUT icon in the attached figure.
  • the inward direction can refer to the direction indicated by the IN icon in the attached drawing.
  • the fetching device 06 can be used in any scheme herein.
  • the linear moving mechanism 06_2 for picking up objects is an electric push rod or a screw mechanism or a telescopic hydraulic cylinder or a telescopic air cylinder.
  • it is an electric push rod.
  • the hook 06_3 is a metal hook, and the size of the hook 06_3 is set to be compatible with the working tool 17, for example, the radius of the arc at the top of the hook is set to 3 cm.
  • the specified operation includes carrying the person in a manner of supporting the person from below the person, driving the working tool 17 connected to the end of the mechanical leg 02 to grab Moving people by means of flexible objects attached to people, cutting objects, digging or shoveling objects, picking objects, tilling, painting objects, taking bricks to build walls, welding objects, rotating fasteners to install or remove objects, spraying objects any kind.
  • a specified job is a specific job. To specify is to specify. Specifying is equivalent to specifying.
  • the working tool 17 for cutting objects is a knife or a saw or a cutting machine.
  • the working tool 17 for digging or shoveling is a shovel.
  • Multiple operating tools 17 can be connected to the end of the same mechanical leg, or can be connected to the ends of multiple mechanical legs respectively.
  • the posture of the frame 01 can be either the first prone position or the standing position.
  • the optional standing posture is the first standing posture or the second standing posture.
  • the devices shown in Figures 1 to 9 are all in the first prone position.
  • the device shown in Figures 16 and 17 is in a first standing position.
  • the device shown in Figure 18 is the second lying position, ie supine.
  • the end of the mechanical leg 02 in any of the movable devices described above is provided with a foot 106A for supporting the ground.
  • the end of the mechanical leg 02 in any of the mobile devices described above is provided with rollers for rolling along the road.
  • the mechanical leg 02 is provided with a power supply component for supplying power to the working tool, one end of the power supply component is connected to the power supply provided on the frame 01, and the power supply component One end is used to attach the work tool.
  • the power supply component can be a power interface and/or a wire.
  • the power connector is pluggable to power the work tool.
  • One end of the wire is connected to the power interface and the other end is connected to the battery of the frame 01 .
  • the top 115 of any one of the above movable devices is connected to the frame 01 through the fifth lifting mechanism 1315 so that the top 115 can be lifted relative to the frame 01 and/or the top 115 is provided with rollers.
  • the mobile device described in any one of the above is configured to be able to carry an adult to travel.
  • the frame of the device or its related parts (such as the seat 117 ) is structurally designed to withstand a standard preset (such as 100KG) force.
  • the mobile device described in any one of the above further includes a manned cabin 11 .
  • the mobile device described in any one of the above items is a cart.
  • the mobile device described in any one of the above further includes an underwater propulsion device 09 connected to the frame 01, and the underwater propulsion device 09 is configured to drive the mobile device to travel in water; and/or , the buoyancy generated by the movable device in the water is not less than the weight of the movable device or the movable device is a boat.
  • the underwater propulsion device 09 is a propeller.
  • the underwater propulsion device 09 is a water jet propeller.
  • a control method 1 for a mobile device as described in Embodiment 1 or any alternative solution based on Embodiment 1 includes steps:
  • step S1 If the type of operation is to carry the personnel by holding the personnel from below, step S1 is performed.
  • step S2 is performed.
  • step S3 is performed.
  • step S4 is performed.
  • step S5 is performed.
  • step S6 is performed.
  • step S7 is performed.
  • step S8 is performed.
  • step S8 is performed.
  • step S9 If the type of operation is to rotate the fastener to install or disassemble the article, then perform step S9,
  • step S10 is performed.
  • step S11 If the type of operation is to climb along the external object through the mechanical leg fused with the leg arm, then perform step S11,
  • step S12 is performed
  • step S13 is performed;
  • S1 First place the movable part of the mechanical leg fused with the leg and arm under the person to be transported to support the person and then lift and/or translate the person.
  • the movable part refers to the thigh 102 and/or of the mechanical leg fused with the leg and arm or the lower leg 104 and/or the joint at the end of the lower leg 104 and/or the tool to which the end of the leg-arm fusion robotic leg is attached;
  • the mechanical leg that controls the fusion of the leg and arm drives the end effector connected to the end of the mechanical leg to carry the person by grabbing the flexible object connected to the person.
  • the end effector is the grabbing device 06;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to cut objects, and the working tool is a knife or a saw or a cutting machine;
  • the mechanical leg that controls the fusion of the leg and arm drives the operation tool connected to the end of the mechanical leg to pick items.
  • the picked items are vegetable picking or fruit picking or cotton picking or pulling plants or weeds.
  • the plants are vegetable plants, Any one or more of tree plants, seedlings, and traditional Chinese medicine plants, and the operating tool is a picker;
  • the mechanical leg that controls the fusion of the leg and arm drives the operation tool connected to the end of the mechanical leg to cultivate.
  • the cultivation refers to hoeing or planting.
  • the working tool for hoeing is a hoe, and the working tool for planting is seedling inserter;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg, and paints the working material carried by the working tool to the working object.
  • the working tool is a brushing tool, and the working material is paint or Pigment or powder or paste, the operation object refers to the wall or floor or equipment surface to be painted;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to weld objects, and the working tool is a welding tool;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to rotate the fastener to install or remove the object, the working tool is a grabbing part or the working tool is used to socket the fastening wrench or screwdriver;
  • the mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to spray an object, the object is medicine or paint or powder or slurry or a fire extinguishing substance, and the working tool is a sprayer;
  • a specified job is a specific job. To specify is to specify. Specifying is equivalent to specifying.
  • control method 1 includes step Z0 before performing the specified operation: obtaining pose information of the work object or obtaining orientation information of the target space.
  • control method 1 includes step Z10 before performing the specified operation: controlling the limb mechanism to drive the working tool connected to the end of the limb mechanism so that the working tool is changed from the current pose of the working tool Move to working position.
  • control method 1 includes step Z20 before performing the specified operation: controlling the movement of the limb mechanism and/or controlling the action of the working tool connected to the end of the limb mechanism to load or grab the working materials.
  • the mechanical leg controlling the leg-arm fusion is the movement of the mechanical leg controlling the leg-arm fusion.
  • the work tool attached to the end is the work tool attached to the end.
  • the leg-arm fused robotic leg is configured to have capabilities, attributes for assigned tasks and for walking.
  • the internal structural characteristics of the mechanical leg fused with the leg and arm meet the two requirements, and the mechanical leg with the fused leg and arm is not an ordinary mechanical leg.
  • the leg-arm fusion mechanical leg has the characteristics and capabilities of a mechanical leg.
  • the mechanical leg of the leg-arm fusion is configured to realize the function of the arm. Realizing the function of an arm is also referred to as using as an arm.
  • the mechanical leg of the leg-arm fusion is used as an arm, that is, it has the function of an arm.
  • Configuration is also known as construction. Configured As is also known as Constructed As. Configure equivalent constructs. The same hardware can realize different functions, which is of great benefit to cost saving and performance improvement.
  • the leg-arm fused mechanical leg is configured to bear the force generated by the leg-arm fused mechanical leg performing a specified operation.
  • the control device controls the movement of the mechanical leg of the leg-arm fusion by controlling the movement of the arm.
  • the driving instructions issued by the control device to the driver of the joint of the mechanical leg of the leg-arm fusion are all instructions for driving the arm to move.
  • the mechanical leg of the leg-arm fusion When the mechanical leg of the leg-arm fusion is used for walking, the mechanical leg of the leg-arm fusion is used as a mechanical leg.
  • the method of controlling the mechanical leg of the leg-arm fusion is to control the movement of the (ordinary) mechanical leg. method.
  • the driving instructions issued by the control device to the driver of the joint of the mechanical leg of the leg-arm fusion are all instructions for driving the movement of the (ordinary) mechanical leg of the leg-arm fusion.
  • Some or all of the joints in the third joint part 105 are used as ankle joints or have the function of ankle joints.
  • the mechanical legs can also have no ankle joints and no feet, and walk on the ground by the end of the lower leg.
  • the type of work tool corresponds to the kind of work. Whether or not to add the term "job" after the name of any specified job refers to the same content.
  • job For example: the operation of cutting items can also be called cutting items.
  • Excavation operations are also known as digging.
  • Shoveling is also called shoveling.
  • the operation element is a control method, an operation object, an operation tool or an operation location.
  • a method is a law, and a method includes logic and/or algorithm.
  • the law includes the planning of motion parameters and the acquisition and monitoring of status parameters.
  • Planning is also target value setting.
  • the motion parameters include motion target orientation and/or motion path and/or motion speed and/or angle and/or posture and/or force and/or moment.
  • the motion parameters refer in particular to the target orientation and/or the motion path of the motion.
  • the setting of motion parameters can be set manually or by a control device.
  • Acquisition of status parameters refers in particular to acquisition by sensors.
  • the operation tool connected to the end of the mechanical leg that drives the fusion of the leg and arm is also referred to as adjusting the pose of the operation tool connected to the end of the mechanical leg of the fusion of the leg and arm.
  • the operation area can be obtained based on the location of the operation object, the pose of the movable equipment itself, and the operation tools (size, motion path).
  • any operation elements such as the operation tool, the operation object, whether the operation tool and the operation object need to be in contact, the operation posture, etc.
  • the default operation type is the type that the operation tool and the operation object need to contact. The difference is that the point of this invention is to work with legs. More beneficial than working by hand.
  • the operation tool of this operation is a grabbing part.
  • the grasping component (size, model or specification) is configured to correspond to the object (size, model or specification) to be grasped in the operation.
  • Grasping includes at least one of clamping, gripping, hooking, hanging and adsorption.
  • the grasping component is a multi-fingered manipulator or claws or hooks.
  • the gripping part is an electromagnetic chuck.
  • a job tool is a tool used for a specified job. Tools are also called utensils.
  • the mechanical leg with the leg-arm fusion is used for operation Z or the mechanical leg with the leg-arm fusion performs operation Z, and the operation method and step Z of the operation Z are: control the leg
  • the mechanical legs with fused arms drive the working tools connected to the ends of the mechanical legs to perform operations.
  • the mechanical leg of the leg-arm fusion is the mechanical leg or the mechanical arm of the leg-arm fusion.
  • Pose is position and posture.
  • the mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg to perform operations, that is, the mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg to perform operations.
  • the mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg, that is: the mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg.
  • the job includes the job of driving the job tool to process the job object, and the job of putting the job material into the target space.
  • the job that uses the job tool to process the job object is also referred to as the first type of job. This treatment is also called processing.
  • This first category of operations is moving people, cutting objects, digging or shoveling objects, plowing, picking objects, welding, turning fasteners to install or remove objects.
  • the operation step of the first type of operation is step Z11.
  • step Z10 may also be executed before step Z11.
  • Z10 The mechanical leg that controls the fusion of the legs and arms drives the working tool connected to the end of the mechanical leg, so that the working tool moves from the current pose of the working tool to the working pose.
  • Z11 is: the mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg to process the working object.
  • the object of the processing operation is moving people, cutting objects, digging or shoveling objects, hoeing, picking objects, welding objects, and rotating fasteners. Cultivation refers to hoeing or transplanting seedlings.
  • a job tool is a tool used for processing. Job objects are items to be processed.
  • the working pose is the first working pose, which is the first target pose.
  • the first target pose is the pose when the working tool enters the work area.
  • the work tool is located within the work area.
  • the work area refers to the area where work objects are processed with work tools.
  • the working area is also called the working location.
  • the work tool moves from the first target pose to the second target pose.
  • the second target pose is the pose at which the job ends.
  • the processing portion of the work tool is in contact with the work object.
  • the type of operation is cutting an article
  • the working tool for this operation is a tool with a blade
  • the processing part is the blade.
  • the operation that puts the operation materials into the target space is the second type of operation.
  • work materials are loaded or carried by work tools.
  • the target space is also called the space to be released.
  • the target space is the space where the target object is located.
  • a target space may also refer to a target object.
  • Embodiments of cutting, digging or shoveling The operation method is as follows: the mechanical leg that controls the fusion of the legs and arms drives the working tool connected to the end of the mechanical leg to cut the work object.
  • the working tool is a knife or a saw or a cutting machine.
  • the cutting object is harvesting Chinese herbal medicines, harvesting crops, mowing grass, pruning branches or cutting trees.
  • Crops refer to rice and/or wheat and/or corn.
  • the felling of trees is preferably sawing.
  • the operating tools used for harvesting Chinese herbal medicines, harvesting crops, and mowing grass are knives or saws.
  • the operation object of this operation is Chinese medicinal materials, crops or grasses to be cut.
  • the work tool used for pruning is a knife.
  • the job object of this job is the branch to be pruned.
  • the work tool used for cutting trees is a knife.
  • the job object of this job is the tree to be cut.
  • Work tools for sawing trees are saws, water jets, laser cutters or electric abrasive cutters.
  • the job object of this job is the tree to be sawed.
  • Implementation of excavation drive the operation tool to excavate the operation object.
  • the work tool is a digging tool.
  • the digging tool is a shovel.
  • the operation object is the item to be excavated.
  • the implementation of shoveling drive the operation tool to shovel the operation object.
  • the work tool is a shovel tool.
  • the shovel tool is a shovel.
  • the operation object is the item to be shoveled.
  • Shovel refers to shoveling loose objects. The load and power of the shovel are smaller than that of digging.
  • Picking items are picking vegetables or fruits or picking cotton or pulling plants or weeds, and the plants include any one or more of vegetable plants, tree plants, seedlings, and traditional Chinese medicine plants.
  • the implementation of picking items drive the working tools to pick the working objects.
  • the working tool is a picking tool.
  • the operation object is the item to be picked.
  • the picking tool is a picker designed according to the items to be picked.
  • the picker is a weed comb, a fruit grabber, a seedling puller, and the like.
  • the scheme of hoeing drive the working tools to plow the land.
  • the operation tool is a hoe.
  • the operation object is the land to be hoeed.
  • the implementation of welding drive the working tool to weld the working object.
  • the work tool is a welding tool.
  • the job object is the item to be welded.
  • Welding involves welding metal parts by using a welding machine to create an arc or welding electrical conductors by melting tin with a soldering iron. Metal parts are welded by means of a welding machine that generates an arc, and the welding tool is an electric welding machine that can generate an arc. Solder the conductor by melting tin with a soldering iron, and the soldering tool is a soldering iron.
  • the implementation of rotating fasteners to install or remove items Drive the work tool to rotate the work object to install or remove items.
  • the work tool is a tool or grabber used to socket the fastener.
  • the tool used to socket the fastener is a wrench or a screwdriver.
  • the job object is the fastener to be rotated.
  • the second type of operation is transplanting seedlings, spraying objects, painting objects or taking bricks to build walls.
  • step Z21 The operation step of this second type of operation is Z21.
  • step Z20 may also be executed before step Z21.
  • Z20 Control the movement of the mechanical leg of the leg-arm fusion and/or control the action of the working tool connected to the end of the mechanical leg of the leg-arm fusion, so as to load or grab the working materials.
  • Z21 Control the movement of the mechanical leg of the leg-arm fusion, so as to: put the working materials carried by the working tool connected to the end of the mechanical leg of the leg-arm fusion to the target space, or the working tool connected to the end of the mechanical leg of the leg-arm fusion
  • the carried work materials are processed to the work object. Carry and load.
  • the job object is the item to be processed.
  • the target space is the space of the job materials to be placed.
  • the job object is located in the target space.
  • the target space is the space where the job object is located.
  • the throwing or processing includes spraying, painting, inserting, shooting any one or any combination of them. This delivery is also called a treatment.
  • This step Z21 is to control the movement of the mechanical leg of the leg-arm fusion, so that the working tool connected to the end of the mechanical leg of the leg-arm fusion and loaded or carrying the operating material moves from the current posture to the working posture, so that the Job materials are delivered to the target space.
  • the current pose refers to the current pose of the working tool.
  • the job pose is the pose where the job materials are placed.
  • the target space is the space where the job materials are to be placed.
  • Work tools are containers used to load work materials or tools used to carry work materials.
  • Job materials are materials to be released.
  • the job object is the job material to be delivered. The process includes: making the working tool arrive at the working position.
  • the motion in the step Z10, step Z11, step Z20, and step Z21 refers to motion according to the set motion parameters.
  • the motion parameters in each step can be different.
  • Any task includes: receiving the task instruction, and executing the operation step S when receiving the operation instruction. Before any step, a step of setting the motion parameters of this step may also be included.
  • the end of the robotic leg fused with the leg and arm is connected to the grabbing device 06 , and the working tool is the working tool grabbed by the grabbing device 06 .
  • it before performing step Z, it also includes: obtaining pose information of the work object or obtaining orientation information of the target space; and/or, controlling the mechanical leg for leg-arm fusion and the end of the mechanical leg for controlling the leg-arm fusion
  • the connected grabbing device 06 grabs the work tool.
  • the above operation Z can be any operation in this paper. Replace any operation in this article with the operation Z in the above paragraph Z, and the operation scheme of any operation can be obtained. For example, according to the general operation technical scheme Z and operation step Z in paragraph Z of this article, any step of performing a certain operation with the mechanical leg of any kind of leg-arm fusion mentioned in this article can be realized.
  • Moving personnel or accessing articles can be called moving personnel and articles.
  • Moving personnel and objects refers to moving personnel and objects from the original position to the target position. This movement includes lifting and/or translation.
  • Person Item refers to a person and/or item. Moving people or accessing items, this operation can be done in the first type of operation.
  • the operation method is: driving the operation tool to carry the operation object.
  • the working tool is a grabbing part.
  • the operation object is the person or item to be transported.
  • Implementation of seedling insertion drive the operating tool to drop the operating materials loaded by the operating tool into the target space. This delivery is an interjection.
  • the operating tool is a seedling inserter.
  • the working material is a seedling or a grabbing device.
  • the seedlings are crop seedlings or traditional Chinese medicine seedlings or tree seedlings.
  • the target space is the space to be planted.
  • the embodiment of painting articles or holding brick walls painting articles, the articles are paint or pigment or powder or paste.
  • the operation method is: driving the operation tool, putting the operation material carried by the operation tool into the target space or processing the operation material carried by the operation tool to the operation object.
  • This delivery or treatment is painting.
  • the brushing tool is a brush or a roller or a scraper.
  • the target space is the space of the object to be painted.
  • the job object refers to the wall or ground or equipment surface to be painted.
  • the implementation of taking bricks and building walls drive the operation tool, and put the operation materials carried by the operation tool into the target space.
  • the working tool is a grabbing part.
  • the job material is brick.
  • the target space is the space to be built.
  • Building a wall refers to placing bricks side by side one by one, and building up the walls layer by layer.
  • Layer by layer means that bricks are piled up layer by layer.
  • Spray which is medicine or paint or powder or slurry or fire extinguishing substance.
  • the way of the operation is: drive the operation tool, put the operation material loaded by the operation tool into the target space or process the operation material loaded by the operation tool to the operation object.
  • the working tool is a sprayer.
  • the operating material is medicine or paint or powder or slurry.
  • the target space is the space of objects to be sprayed. This delivery and treatment is jetting.
  • Injection refers to ejecting the pressurized substance to be injected.
  • the operation object refers to an object to be sprayed with an operation material.
  • the working material is paint or powder or slurry or fire extinguishing substance, and the object is wall or ground or equipment surface.
  • the working materials are insecticides, and the objects are crops or vegetables or plants.
  • the working material is a herbicide, and the object is grass.
  • a mobile device with 4 mechanical legs has 1-4 mechanical legs with fused arms, and a shovel tool is connected to the end of the fused mechanical legs. This equipment is used to shovel animal manure in farms.
  • a mobile device with 4 mechanical legs has 4 mechanical legs with fused arms that can walk, and a tool for harvesting Chinese herbal medicines (sickle) is connected to the end of the fused mechanical leg with 1 leg and arm.
  • a digging tool (bucket) is connected to the end of a mechanical leg with fused arms, and a grabbing device (062) is connected to the end of the mechanical leg with fused arms of the other two legs.
  • the control method of the equipment control a mechanical leg with a fusion of legs and arms to harvest Chinese medicinal materials on the ground with a tool for harvesting Chinese medicinal materials (sickle), control a mechanical leg with a fusion of legs and dig tools (shovel) to dig the medicinal materials in the ground, control Additional 2-leg-arm-fused robotic leg with gripper
  • the fetching device 062 carries the collected medicinal materials.
  • the combination of mechanical legs with 4 legs and arms can greatly improve the efficiency of collecting Chinese medicinal materials.
  • a control method 2 for a mobile device as described in Embodiment 1 or any alternative solution based on Embodiment 1 includes the step of: controlling the mechanical leg 02 on the first side and/or controlling the mechanical leg 02 on the second side
  • the legs 02 make the posture of the frame 01 switch between the first lying posture and the standing posture; the standing posture is the first standing posture or the second standing posture.
  • the devices shown in Figures 1 to 9 are all in the first prone position.
  • the device shown in Figures 16 and 17 is in a first standing position.
  • the device shown in Figure 18 is the second lying position, ie supine.
  • the equipment that is, a robot, can also change its posture with its legs on the ground.
  • a method 3 for controlling a mobile device as described in Embodiment 1, Embodiment 2, and Embodiment 3 includes steps:
  • the second lifting mechanism 222 is controlled to make the second walking mechanism 522 reach the ground on the flat road, so that the crawler-type Elevation of the rear of the running gear 07m; and/or,
  • the second lifting mechanism 222 is controlled to make the second traveling mechanism 522 reach the ground on the uphill road section, to reduce the inclination angle of the crawler-type running gear 07m; and/or,
  • Controlling the first elevating mechanism 211 and controlling the second elevating mechanism 222, and/or controlling the third elevating mechanism, is used to adjust the relative adjust the height of the road surface or adjust the attitude of the frame 01; or make the device switch between the first mode and the second mode;
  • the first mode is: the lower surface of the third traveling mechanism is lower than the lower surface of the first traveling mechanism 511 and/or the lower surface of the second traveling mechanism 522, and the frame 01 is supported by the third traveling mechanism.
  • ground and make the movable equipment travel along the road, or support the frame 01 off the ground and make the movable equipment by one of the first traveling mechanism 511 and the second traveling mechanism 522 and the third traveling mechanism drive along the road;
  • the second mode is: the lower surface of the first traveling mechanism 511 and the lower surface of the second traveling mechanism 522 are all lower than the lower surface of the third traveling mechanism, and the first traveling mechanism 511 and the second traveling mechanism 522 supports the frame 01 off the ground and enables the movable equipment to travel along the road.
  • Rolling running gear over obstacles means raising the lower surface of the rolling running gear to the height not lower than the obstacle protruding from the road surface so as to cross the obstacle or make the rolling running gear not fall below the road surface Sag.
  • an obstacle protruding from the road surface is a step higher than the road surface.
  • the sunken portion lower than the road surface is under the steps.
  • the obstacle is ahead in the direction of travel.
  • the road surface refers to the road surface where the device is currently located.
  • a control method 4-1 for a movable device as described in embodiments 1, 2, 3, and implementations 7 and 8 includes the steps:
  • Control a leg root motion mechanism so that the base of the mechanical leg 02 on the first side and the base of the mechanical leg 02 on the second side are located at a certain end of the frame 01; control the mechanical leg 02 on the first side so that the The mechanical leg 02 on the first side supports the ground and/or controls the mechanical leg 02 on the second side to make the mechanical leg 02 on the second side support the ground, or controls the mechanical leg 02 on the first side and the mechanical leg 02 on the second side.
  • leg 02 walks, so that the equipment travels along the road and/or a certain end of the frame 01 and the rolling walking mechanism located at the certain end are lifted off the ground to overcome obstacles;
  • the certain end is the first end and the other end is The second end, or the certain end is the second end and the other end is the first end;
  • the certain leg movement mechanism is the first linear movement mechanism 184 of the connecting bracket, or the certain leg movement mechanism is the first The first linear motion mechanism 184L on the first side and the first linear motion mechanism 184R on the second side, or the leg motion mechanism is the first leg swing mechanism 19L on the first side and the first leg on the second side. Root swing mechanism 19R.
  • the leg root movement mechanism drives the mechanical legs to move to the first end (front) of the frame 01.
  • the equipment can form a "car pulled by the mechanical legs" Unique driving mode, and can assist the first road wheel 511 to leave the ground and overcome obstacles.
  • the leg root movement mechanism drives the mechanical leg to move to the second end (rear) of the rack 01.
  • the equipment can form a unique "backward car by the mechanical leg" driving mode, and can assist the second road wheel 522 to lift off the ground and overcome obstacles.
  • a control method 4-2 of a movable device as described in Embodiments 1, 2, 3, and Embodiments 7 and 8 includes steps:
  • the base of the mechanical leg 02 on the second side is located in the middle of the frame 01, or the first leg swing mechanism 19L on the first side and the first leg swing mechanism 19R on the second side are controlled to make the first leg swing mechanism 19R
  • the base of the mechanical leg 02 on one side and the base of the mechanical leg 02 on the second side are located at the middle and lower part of the frame 01; the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are controlled to walk.
  • a control method 4-3 of a mobile device as described in Embodiments 1, 2, 3, 7, and 8 includes the steps:
  • this certain leg root movement mechanism is the first linear movement mechanism 184 of this connecting bracket, the first linear movement mechanism 184L of this first side, the first linear movement mechanism 184L of this second side.
  • this movement mechanism 184R the first leg swing mechanism 19L on the first side, and the first leg swing mechanism 19R on the second side any kind.
  • a control method 4-4 of a movable device as described in Embodiment 8 includes steps:
  • the first leg root swing mechanism on a certain side so that the base of the mechanical leg 02 on the certain side is located at the middle and upper part of the frame 01, and control the mechanical leg 02 to perform specified operations or climb.
  • the end effector connected to the end of the mechanical leg grabs an external object higher than the frame 01 to make the device crawl along the external object, the end effector is a grabbing device 06 or a working tool for climbing, the A certain side is the first side or the second side.
  • a control method 5-1 of a movable device as described in embodiment 1, embodiment 2, and embodiment 8 includes steps:
  • the end effector connected to the end grabs an external object higher than the frame 01 to make the device crawl along the external object, and the end effector is a grabbing device 06 or a working tool for climbing.
  • a control method 5-2 of a movable device as described in Embodiment 1, Embodiment 2, and Embodiment 8 includes the step of: controlling the second linear motion mechanism in any orientation to drive the second linear motion mechanism in any orientation
  • the base of the mechanical leg moves to the second area, and the mechanical leg is controlled to perform specified operations.
  • a control method 5-3 of a movable device as described in Embodiment 1, Embodiment 2, and Embodiment 8 includes the steps:
  • a computer-readable storage medium wherein computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by a processor, the control method described in any one of the above is implemented.
  • control device for movable equipment, characterized in that the control device includes a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the control described in any one of the above is realized method.
  • the control means can be located either within the device or in another mobile platform separate from the mobile device.
  • a mobile platform the mobile platform is the movable device as described in embodiment 1 or any optional solution based on embodiment 1, or the mobile platform includes a walking mechanism for driving the mobile platform along the road surface,
  • the mobile platform includes the above-mentioned control device.
  • the manned cabin 11 includes a bottom 116, and a space for people is left on the bottom 116. Borders are arranged on the left and right sides of the manned space. This border is the edge.
  • a frame is also provided on the front or rear of the manned compartment. At least one side of the passenger cabin 11 is provided with a door or window that can be opened and closed.
  • the frame 01 is hollowed out, arranged horizontally relative to the horizontal plane, and includes a plurality of longitudinal beams and a plurality of cross beams, and two ends of each cross beam are respectively connected to two corresponding longitudinal beams.
  • a plurality of longitudinal girders may be stacked vertically, and a plurality of cross beams may be stacked vertically.
  • the longitudinal beams and cross beams are made of metal materials or other materials with standard strength, such as stainless steel square tubes or aluminum profiles, and multiple square tubes are welded to form the nacelle.
  • Longitudinal refers to the front-to-back direction.
  • Horizontal refers to the left-right direction. Hollow is hollow.
  • the components of the frame 01 may also include the base of the kinematic mechanism connected to each other.
  • the longitudinal beam of the first side or the second side can be formed by the base of the kinematic mechanism arranged longitudinally on this side.
  • the base of the kinematic mechanism 181 for the forward and backward motion of the first end and the base of the kinematic mechanism 182 for the forward and backward motion of the second end are longitudinal beams of the frame 01 .
  • the bases of the third lifting mechanism 212 at the first end and the third lifting mechanism 221 at the second end are vertically connected to the frame 01 .
  • the device also includes several guiding mechanisms for guiding and increasing structural strength.
  • 1611, 1612, 1621 and 1622 are all guiding mechanisms. Both ends of the first guide mechanism 1611 are respectively connected to the middle part of the frame 01 and the upper part at the first end. Two ends of the first guiding mechanism 1612 are respectively connected to the middle part of the frame 01 and the lower part of the first end. Two ends of the second guide mechanism 1621 are respectively connected to the middle part of the rack 01 and the upper part of the second end. Both ends of the second guide mechanism 1622 are respectively connected to the middle part of the rack 01 and the lower part of the second end.
  • a predetermined width is provided between the stringers on the first side or the second side.
  • the bottoms of the stringers on the first side or the second side are connected by beams and/or plates.
  • the device is configured to be capable of carrying people, and the width is set to be not less than the width of the shoulders of a standard adult.
  • the bottom is used to carry the manned cabin or the bottom is the bottom of the manned cabin.
  • the embodiment of connection: the connection of each part of the frame is welding.
  • the frame is threaded with other parts.
  • the description at any place can be used in any scheme in this paper: the any scheme especially refers to any mobile equipment scheme.
  • a specified job is a specific job. To specify is to specify. Specifying is equivalent to specifying.
  • equipment is a machine or a robot, and the three are equivalent.
  • all definitions of front, rear, left, and right directions are based on the driving direction of the device along the road. Taking the driving direction of the device along the road as a reference, it can also be described as being in the driving direction of the device, and the two are equivalent.
  • the benchmark is the reference.
  • the direction of travel is forward, the first side is the left side, and the second side is the right side.
  • the road surface refers to a flat road.
  • first end is first
  • the first part is the front part.
  • the second end is the second part or the second part or the rear part. Longitudinal refers to the front-to-back direction. Horizontal refers to the left-right direction.
  • the first part is the part before the center of gravity of the device.
  • the second part is the part behind the center of gravity of the device.
  • the first site and the second site are opposite sites.
  • the first end and the second end are opposite ends bounded by the center of gravity O.
  • the first end of the rack 01 of the device is located in front of the point O of the center of gravity of the device.
  • the second end of the rack 01 of the device is located behind the point O of the center of gravity of the device.
  • the middle part of the rack 01 of the equipment is located between the first end of the rack 01 and the second end of the rack 01 .
  • one side of the center of gravity O is the first side
  • the other side of the center of gravity O is the second side.
  • the first side and the second side are located on opposite sides of the center of gravity O.
  • the direction of travel is forward, the first side is the left side, and the second side is the right side. Either side, not limited to the outer surface of that side.
  • the axis in the direction of travel passing through the point O of the center of gravity of the device is the longitudinal axis. To the left of the vertical axis is the left side. To the right of the vertical axis is the right side.
  • the first side and the second side are located on opposite sides of the longitudinal axis.
  • the first side of the center of gravity O of the device ie the center of the frame 01 of the device, is located on the first side of the longitudinal axis of the device.
  • the second side of the center of gravity O of the device ie the center of the frame 01 of the device, is located on the second side of the longitudinal axis of the device.
  • the point O of the center of gravity is the center of the rack 01 of the equipment.
  • the position of the center of gravity is the center position.
  • the internal and external directions on either side refer to: the direction close to the longitudinal axis is inward, and the direction away from the longitudinal axis is external.
  • the front part is the first part
  • the rear part is the second part.
  • the second part is the second part.
  • the first part is the first part. Longitudinal refers to the front-to-back direction. Horizontal refers to the left-right direction.
  • the position of any lifting mechanism refers to the position of the output member of the lifting mechanism.
  • the position of any forward and backward movement mechanism refers to the position of the output member of the forward and backward movement mechanism.
  • the walking wheel is a wheeled walking mechanism. To walk is to move the ground and to travel. Wheeled walking is wheeled movement, that is, wheeled travel.
  • the mechanical leg of leg-arm fusion is the multifunctional mechanical leg, that is, the mechanical leg with arm function, that is, the limb mechanism of leg-arm fusion, and the four are equivalent.
  • the leg root motion mechanism is the fourth motion mechanism.
  • the second linear motion mechanism is the fourth lifting mechanism.
  • the first linear motion mechanism is the fourth forward and backward motion mechanism.
  • the first leg root swing mechanism is the first single-stage swing mechanism.
  • the second end is the second part, that is, the rear portion, that is, the tail end.
  • the middle part is the third part.
  • the top elevating mechanism is the fifth elevating mechanism.
  • any device is a mobile device.
  • a removable device is simply referred to as a device.
  • the crawler-type traveling mechanism is the crawler-type traveling device, and the two are equivalent.
  • the wheeled walking mechanism is the walking wheel.
  • the front edge of the road wheel refers to the front edge of the road wheel.
  • the rear edge of the road wheel refers to the rear edge of the road wheel. Touching the ground means touching the road. When you support the ground, you reach the ground.
  • the ground is the road. To drive means to drive along the road.
  • the crawler-type traveling mechanism is an integral crawler-type traveling mechanism.
  • the integral crawler-type traveling mechanism means that the forward arrival point of the crawler-type traveling mechanism is located in front of the center of gravity of the movable equipment and the rear-arrival point of the crawler-type traveling mechanism located behind the center of gravity of the device.
  • Integral crawler-type traveling mechanism refers to that crawler belts for reaching the ground are provided between the front arrival point and the rear arrival point of the crawler-type traveling mechanism.
  • the distributed crawler mechanism refers to a crawler-type walking mechanism whose front and rear arrival points are located before or after the center of gravity of the movable equipment.
  • the landing point of the road wheel refers to the lower surface of the road wheel.
  • the front arrival point of the crawler-type traveling mechanism refers to the front point of the lower surface of the crawler included in the crawler-type traveling mechanism
  • the rear-arrival point of the crawler-type traveling mechanism refers to the rearward point of the lower surface of the crawler included in the crawler-type traveling mechanism. point.
  • the lower surface of the track refers to the longest straight line in the lower surface of the track.
  • the center of the road wheel or wheel is the axis of the wheel.
  • the center of the crawler-type traveling mechanism in the front-rear direction is at the 1/2 length of the crawler belt.
  • the landing point of any walking component refers to the part of the walking component that is used to touch the ground. The arrival point is allowed to be lifted and off the ground.
  • the landing site of any running gear refers to the outer landing site of the running gear in the overlooking direction.
  • the outer landing point refers to the farthest landing point in the horizontal direction from the center of the rack 01 in all directions, front, rear, left, and right.
  • Azimuth means direction, means angular position, means orientation.
  • the reference object is the center of gravity O point of the movable device in any orientation of front, rear, left, right, up, and down.
  • the center of gravity (O) of a device refers to the center of gravity (O) of the device's construction. Any part refers to the center of the part unless otherwise specified.
  • inward or outward refers to the reference object as a reference, inward means: the direction pointing to the reference object; outward means: pointing in the opposite direction to the reference object.
  • forward refers to; the direction in which movable equipment travels.
  • the front refers to the direction indicated by X1 in the attached drawing.
  • X1 indicates the front
  • X2 indicates the rear.
  • Left-right means left and/or right
  • front-back means front and/or back.
  • Advance and retreat refers to advance and/or retreat.
  • the front view is viewed from the front and back, the front view is the left view; the side view is the front view, which is the front view, and the view direction is from left to right; the top view is from the top to bottom view.
  • Front includes straight front, left front and right front.
  • the rear includes positive rear, left rear and right rear.
  • Left includes positive left, left front and left rear.
  • Right includes front right, front right and rear right.
  • the longitudinal direction is the X direction, which is the front-to-back direction.
  • the horizontal direction is the Y direction, which is the left-right direction.
  • Above includes directly above, and side above is obliquely above.
  • the top is above.
  • Below includes directly below, and side below is obliquely below.
  • the vertical direction is the Z direction, which refers to the up and down direction.
  • the first side and the second side are opposite orientations.
  • the first side is the left side, that is, the left side, that is, the left side
  • the second side is the right side, that is, the right side, that is, the right side.
  • the middle part herein refers to the position between the first running gear and the second running gear.
  • the first end of the first side is the front left.
  • the first end of the second side is the front right.
  • the second end of the first side is the left rear.
  • the second end of the second side is the right rear.
  • the front surface is the end surface of the first end.
  • the rear surface is the end surface of the second end.
  • the upper surface is the surface of the first region.
  • the lower surface is the surface of the second region.
  • the first area is the upper area of the frame 01, namely the back.
  • the second area is the lower area of the rack 01, i.e. the abdomen.
  • the surface of the first region, that is, the upper surface of the first region, is the back surface.
  • the surface of the second area is the lower surface of the second area.
  • the first area and the second area are bounded by the height line of 1/2 of the height of the rack 01, the first area is above the 1/2 height line, and the second area is below the 1/2 height line .
  • any part has two ends, one end of the part refers to the root of the part, and the other end of the part refers to the end of the part.
  • the root refers to the part close to the rack.
  • the end refers to the part away from the rack.
  • the part is in particular a leg, an arm, a mechanism or a joint.
  • the root is the base, the fixed end is the fixture, the head end is the inner end, and the six are equal.
  • the end is the movable end, the movable part is the output end, the output part is the outer end, and the six are equal.
  • One end of any mechanism refers to the base of the mechanism, and the other end of the mechanism refers to the output of the mechanism.
  • the movable equipment refers to the rack 01 of the movable equipment.
  • the movement of the equipment refers to the movement of the rack 01 .
  • the body is the body and the torso is the fuselage and the frame.
  • the ground is the road.
  • Floor means the bottom surface under the equipment used to support the equipment.
  • any connection wheel refers to the shaft of the connection wheel.
  • the crawler-type traveling mechanism and the crawler belt are installed in the middle of the bottom of the equipment. Unless otherwise specified, the positional relationship of any member with respect to the other member is based on the center of the two members.
  • the scheme includes the scheme after the word “can” or “may” or “with” is removed.
  • Arbitrary refers to several. Several can be one or more. A certain kind, that is, any one or any variety.
  • A includes B, including: A is connected to B or A is B. Include can be just include. Just include it.
  • connection includes direct connection or connection through an intermediate piece.
  • Connection including: mechanical connection (between mechanical components), electrical connection (between electrical components), etc.
  • Electrical connection includes wired connection and wireless connection.
  • Direct connection such as welding or crimping or screwing or hooking or hooking or snap-in connection, etc.
  • connection refers to concatenation.
  • a plurality of components are connected in sequence, and the end of the former component is connected to the root end of the latter component, that is, the ends of the plurality of components are connected in sequence.
  • the connection is mechanical.
  • the type of (mechanical) connection including: fixed connection, detachable connection.
  • the connection of the two can also be the integration of the two.
  • a detachable connection that is, a connection in such a way that it can be disconnected in a controlled manner.
  • Active connections include slidable connections or rotatable connections; rotatable connections are hinged.
  • any connecting part refers to a part used to connect the parts to be connected in the device.
  • the connection part refers to the part used to support and connect the parts to be connected.
  • the components to be connected are kinematic mechanisms.
  • a connection part means a part configured to have properties for connecting parts to be connected or has undergone processing for connection.
  • the connection part means that the part is configured to bear the force generated by the parts to be connected.
  • the connection part can also refer to the connection part.
  • the part is a hole, slot or pin or reinforcement.
  • a unit is a device, a system is a module, a component is a component, a device is a component, and these eight are equivalent.
  • the components included in the device may be one or more. Any part may be distributed over multiple physical entities or a single physical entity. Multiple components may also be arranged within the same object entity.
  • the drive unit is also known as the drive or power unit. Drives are also referred to as actuators.
  • the kinematic mechanism and its drive can be integrated.
  • an integrated joint means that the joint is integrated with the driving device of the joint.
  • the output end of the motion device is the output end of the motion mechanism.
  • Drives are also called drive components.
  • the frame is the body, the body, the torso, the fuselage, and the five are equal.
  • Any movable piece of equipment has a rack.
  • Rack that is, parts of a mobile device that are fixedly connected to each other, and the parts that are fixedly connected to each other have the largest mass among all parts of the device.
  • the equipment in any place includes all the devices needed to realize the operation.
  • Any equipment includes: control device, operating device and energy supply device.
  • the movable equipment may also include necessary electrical components and/or mechanical parts. Electrical components such as wires are used to electrically connect the various components. Mechanical parts are used to connect and support various components.
  • the movable equipment, control device, working device and energy supply device are all configured to realize the methods, steps and functions described anywhere in this paper.
  • the operation includes driving the equipment and specifying the operation.
  • Operating devices include special operating devices and mobile devices.
  • Mobile devices are used to move mobile equipment.
  • the movement refers to movement driven by the power system.
  • the rolling traveling device is the rolling traveling mechanism and the driver of the rolling traveling mechanism.
  • the running gear can be a rolling running gear or a walking gear.
  • the walking device is the leg device.
  • the walking mechanism is the leg.
  • Leg walking is walking. Any running mechanism is connected with a driver, and the driver is used to generate power to drive the device to travel along the road. Any kind of walking mechanism and the connected driver for driving the mechanism are called walking gear.
  • the running gear comprises wheeled running gear and/or crawler running gear and/or leg gear. To walk is to drive. To walk means to move on the ground. Walking gear is also called ground moving gear.
  • the control unit is connected to the drive.
  • the driver is controlled by the control device, and the action of the mechanism is controlled by the control device.
  • any mechanism is connected with a driver for driving the lifting mechanism.
  • the output of the wheel mechanism is the rim and/or the tire that fits on the rim. Drives can contain reducers.
  • any motion mechanism that can be controlled by the control device is connected with a driver for driving the motion mechanism.
  • Controlling any mechanism refers to controlling the actuators used to drive the mechanism.
  • the power input end of the mechanism is connected with the power output end of the driver.
  • Types of locomotion include lifting, walking on legs, walking on wheels, walking on tracks, and water propulsion.
  • the movement mechanism can be divided into lifting mechanism, walking mechanism, wheel type walking mechanism, crawler type walking mechanism, and underwater propulsion mechanism.
  • moving devices can be divided into lifting devices, leg-type walking devices, wheel-type walking devices, crawler-type walking devices, and underwater propulsion devices.
  • Leg walking is walking. Walking is also called driving or moving. To walk means to move on the ground.
  • the walking devices are all ground mobile devices.
  • the equipment may refer to the rack 01 of the equipment.
  • the movement of the equipment refers to the movement of the rack 01 .
  • the body is the body, the torso, the fuselage, and the frame, and these five are equal.
  • the ground is the road surface.
  • the job executing device is a mobile appliance.
  • mobility equipment include feet, climbing equipment, wheels.
  • the work tools include grabbing devices and/or work tools.
  • the energy supply device includes or is a power source.
  • the power supply is connected to the control device to supply power for the control device; the energy supply device is connected to the operation device to provide energy for the operation. Further, the energy supply device is connected to the driving device in the working device to provide energy for the operation. Providing energy especially means supplying electricity.
  • the energy supply device may be a power supply.
  • the power source can be a battery.
  • the drive device is the drive unit, the power unit, the power system, the drive component, the drive assembly, and the six are equivalent.
  • the driving device includes a power conversion device.
  • the power conversion device is an electric motor, a hydraulic cylinder, a hydraulic motor, an air cylinder or an air motor.
  • the drive device further includes a power control device for controlling the power components.
  • the power control device is a motor driver and a hydraulic valve.
  • the control device is configured to implement any of the control methods herein.
  • the control device includes a processor and a storage medium for storing instructions executable by the processor, and the processor is configured to implement any one of the control methods herein.
  • Processors are used to process, execute programs, and manipulate data.
  • the storage module is used to store programs and data.
  • the storage medium is the storage module.
  • Processor is CPU or DSP.
  • the control device also includes a communication module.
  • the communication module is used to obtain environmental information collected by external sensors and obtain control instructions.
  • the communication module communicates with the man-machine interface to obtain manual control instructions.
  • the communication module can also automatically control module communication to obtain automatic control instructions.
  • the automatic control module is an automatic driving module that can output driving instructions or an artificial intelligence module that can output special operation control instructions.
  • the software program can come from a memory module inside the control device or from outside. The external especially refers to network and cloud platform.
  • the control device includes software, hardware and structural components for realizing control functions. Further, the control device also includes at least one of a man-machine interface and a sensor module. The control device is configured to connect any components required for control.
  • the communication module is used for communication between components within the control device and/or for communication between the control device and external systems.
  • the communication module includes a wired communication module and a wireless communication module.
  • the wired communication module is 485 bus, CAN bus or Ethernet bus.
  • An external system especially refers to an external information processing center, especially a network system.
  • the wireless communication module is a mobile communication module or an infrared communication module.
  • Human-machine interface includes voice input system, touch screen, keyboard, mouse, buttons, human gesture recognition system, etc.
  • the sensor module includes a sensor for acquiring status information of the device itself and/or an environment perception module 08 for acquiring environmental information.
  • the control device can also obtain the information collected by the external sensor module through the communication module.
  • the self-condition can be the angle of the body, moving speed, acceleration, angle of each joint, angular velocity, position of each leg, each arm, etc.
  • the sensor includes IMU, gyroscope, acceleration sensor, current sensor, etc.
  • Environment refers to the environment where the device is located.
  • the sensors for acquiring environmental information include at least one of visual sensors, radars, ultrasonic waves, satellite positioning modules, and radio frequency positioning modules.
  • the control device is configured to control the movable equipment to perform any of the operations herein.
  • the control device (electricity) is connected to the operation device to control it to perform operations.
  • the control device (electrically) is connected to the moving device in the working device, controls the moving device, and the working device connected to it is driven by the moving device to perform operations.
  • the moving device is the working device.
  • the control device is (electrically) connected to the drive device in the working device, the control device controls the drive device, and the drive device drives the motion mechanism connected to it (mechanically).
  • the motion mechanism is a leg, a rolling walking mechanism, a mechanical arm or a mechanical leg fused with a leg and an arm.
  • the mechanical arm or the mechanical leg with the fusion of the leg and arm drives the working tool connected to it (mechanically) to perform operations.
  • controlling the driving device for driving the motion mechanism may be referred to as “controlling the motion device” or “controlling the motion mechanism”, and the three are equivalent.
  • Work tools are gripping devices and/or work tools.
  • the control device (electrically) controls the driving device, which means: the control device (the processing module in it) processes the information related to the operation, executes the program related to the operation, and the control device can issue control related to the operation to the driving device Signal.
  • Any device herein includes a steering mechanism and a driver for driving the steering mechanism.
  • the steering mechanism connects the steering wheels. Steering wheels can be steered by manipulating the steering manipulator. Here, it is also possible to control the differential speed of the wheels on both sides in the device to steer.
  • the steering mechanism of the equipment traveling on three wheels may be a steering mechanism of a tricycle.
  • the steering mechanism of the four-wheeled device may be the steering mechanism of an automobile.
  • the steering mechanism can be a digital steering gear.
  • the digital steering gear is connected to the running wheels to be turned.
  • the steering gear is controlled by the control device to drive the steering wheel to turn.
  • the motion control devices can be steering wheel, accelerator, brake, and rocker.
  • Motion maneuvers include forward and backward maneuvers and/or steering maneuvers.
  • the automatic driving module is used to control the movement of movable equipment in an automatic driving manner. Autonomous driving is driverless. since The automatic driving module is based on satellite and map information for unmanned driving; automatic driving can be realized with reference to existing known technologies.
  • connection part used to connect the kinematic mechanism in the device.
  • the connection part is arranged on the frame of the equipment.
  • Motion includes any one or any combination of rotation, linear movement, and oscillation.
  • the output part of any movement mechanism can drive a certain part to move, which means that the output part of the movement mechanism is connected to the part.
  • the base of the kinematic mechanism is connected to the frame 01.
  • the moving mechanism is the driving mechanism, the movable mechanism is the mechanism, and the four are equivalent.
  • the mechanism includes a first member and a second member; the first member is connected to the second member; and the second member is movable relative to the first member.
  • the two components are connected by a kinematic pair.
  • the first member is relatively stationary in the mechanism and serves to support the second member.
  • the first component is the base, that is, the base, that is, the fixed piece, that is, the fixed component, that is, the frame, and these five are equivalent.
  • the base is used for connecting to the rack of the equipment or is a constituent part of the rack of the equipment.
  • the second component moves within the moving path and/or moving range set by the first component.
  • the second member is the movable part.
  • the moving parts can also be divided into driving parts, driven parts and intermodal parts.
  • the original moving part is the active part, that is, the input part, that is, the input member, and these four are equivalent.
  • the input part is the power input part.
  • the original moving part is used to connect the power device or the motion control device; the power device drives the original mover to move or the motion control device drives the original mover to move. Or the original moving part is the power part.
  • the prime mover is connected with the follower.
  • the follower is the work piece, the output piece is the output end, the output member, and the five are equivalent.
  • the output part is the motion output part or the power output part.
  • the intermodal part is an intermediary component between the original moving part and the driven part. Intermodal parts are used to transmit power, that is, transmission parts.
  • the driven part drives the connected load object to move.
  • the payload is a tool or an end effector for work.
  • the movement mechanism is connected to the power device, which means that the original moving part of the movement mechanism is connected to the power device.
  • the movement of the movement mechanism is driven by the power unit.
  • the power unit is also called a drive.
  • the name of the device can be directly used to indicate the mechanism of the device.
  • the wheel finger wheel mechanism Electric push rod refers to electric push rod mechanism.
  • Cylinder refers to a cylinder mechanism.
  • the hydraulic cylinder refers to the hydraulic cylinder mechanism.
  • the mechanical arm refers to the mechanical arm mechanism.
  • the motion mechanism includes a rotary mechanism, a linear movement mechanism and a swing mechanism.
  • the drive device can be divided into rotary drive device, linear drive device, etc.
  • the rotary drive device is a rotary motor.
  • Linear drive means that the output member of the device can linearly reciprocate relative to the base of the device.
  • the linear moving mechanism is an electric push rod device, or a piston cylinder device or a telescopic hydraulic cylinder device.
  • Rotary kinematic mechanism the output of the mechanism can rotate relative to the base of the mechanism.
  • the output member may be a rotary shaft.
  • a rotary motion mechanism may be a gear set mechanism, a worm gear mechanism, or a rotary motor mechanism.
  • the rotary kinematic mechanism may be a rotary joint.
  • Linear movement is linear motion.
  • Linear especially refers to a straight line.
  • a linear motion mechanism means that the output member of the motion mechanism can linearly reciprocate relative to the base of the motion mechanism.
  • a linear motion mechanism is a linear joint.
  • a slider is a slider.
  • the linear moving mechanism can be a rail-type moving mechanism or a telescopic mechanism.
  • the guide rail is the slide rail.
  • the base of the guide rail type motion mechanism is a guide rail, and the output part is a slider.
  • the telescopic mechanism is an electric push rod, a piston cylinder or a telescopic hydraulic cylinder.
  • an electric push rod its interior is a screw mechanism
  • the base 201A of the electric push rod is the outer tube of the push rod
  • the output part 203A of the electric push rod is the telescopic rod of the push rod
  • the mechanism comprises a screw 202A driven by a motor 204A.
  • the screw mechanism includes a base 201B, a screw 202B and an output member 203B with a screw hole.
  • the base 201B is a bracket connecting the screw rod 202B and the output member 203B.
  • the output piece 203B with a screw hole means that the output piece is provided with a screw hole or the output piece 203B is connected with a nut.
  • the screw hole or the nut is provided with a thread matched with the threaded rod 202B.
  • the output member 203B is sleeved on the screw rod 202B and screwed to the screw rod 202B.
  • the driver of the mechanism is a motor.
  • the input to the mechanism is the lead screw 202B.
  • the base of the motor is connected to the base 201B of the screw mechanism.
  • the output shaft of the motor is connected to one end of the screw rod 202B of the mechanism, and the motor can drive the screw rod 202B to rotate around its own axis.
  • the rotation of the lead screw 202B can drive the output member 203B to move along the length direction of the lead screw. That is, the output member cooperates with the screw rod 202B to convert the rotation of the screw rod 202B into the linear movement of the output member.
  • the piston cylinder that is, the telescopic cylinder
  • the piston cylinder is a cylindrical metal device that guides the piston to perform linear reciprocating motion.
  • Telescopic hydraulic cylinders especially refer to piston hydraulic cylinders.
  • the base of the piston cylinder is a cylinder block, and the output part is a telescopic rod connected to the piston.
  • the base of the telescopic hydraulic cylinder is a hydraulic cylinder block, and the output part is a telescopic rod connected to the piston.
  • the swing mechanism herein refers to a single-link swing mechanism, that is, a single-stage swing mechanism.
  • the lifting mechanism can be a vertical linear movement mechanism or a swing mechanism.
  • the swing mechanism is the swing joint.
  • the swing mechanism refers to: the output part of the mechanism is hinged to the base of the mechanism; the output part can rotate around the hinge, and one end of the output part is a hinged end.
  • the output part of the swing mechanism is a swing arm. .

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Abstract

A movable apparatus, a control method and device, a storage medium, and a mobile platform. The apparatus comprises a rack (1), a mechanical leg (02) on a first side, and a mechanical leg (02) on a second side of the center of gravity (O) of the apparatus, wherein the mechanical leg (02) on the first side and the mechanical leg (02) on the second side are configured to be able to walk, and at least one mechanical leg (02) of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side is a leg-arm fused mechanical leg (02), a tail end of the leg-arm fused mechanical leg (02) being connected to a tail end effector. The apparatus further comprises a leg root movement mechanism and/or a rolling type walking mechanism, which are/is used for enabling a base of each mechanical leg (02) to realize lifting movement and/or forward and backward movement. Each mechanical leg (02) comprises a first joint portion (101), a thigh (102), a second joint portion (103) and a shank (104), which are connected in sequence, wherein a root of the first joint portion (101) is connected to the rack (01). The movable apparatus can enhance the capacity of operation or crossing an obstacle.

Description

可移动的设备、控制方法与装置、存储介质及移动平台Movable equipment, control method and device, storage medium and mobile platform
本申请要求于2022年01月12日在中国专利局提交的、申请号为2022100341176、发明名称为“可移动的设备、控制方法、控制装置、存储介质及附件”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with the application number 2022100341176 and the title of the invention "Mobile equipment, control method, control device, storage medium and accessories" filed at the China Patent Office on January 12, 2022, The entire contents of which are incorporated by reference in this application.
技术领域technical field
本发明属于机器人技术领域，尤其涉及可移动的设备、控制方法与装置、存储介质及移动平台。The invention belongs to the technical field of robots, and in particular relates to movable equipment, a control method and device, a storage medium and a mobile platform.
背景技术Background technique
日本本田公司公开的公开号或授权号为CN100540237名为腿式移动机器人的控制方法、公开或授权号为CN1240524C的名为双足步行机器人、公开或授权号为CN1234507C双脚行走机器人、公开或授权号为CN100566952的腿式移动机器人及其控制装置和控制方法、公开或授权号为CN102300680A的名为机器人手臂的控制方法、授权公告号CN109571423A-机器人控制***、机器人控制方法及机器人控制***用的用户设备，公开了多种有臂的腿式移动机器人、多种腿、多种臂、腿使机器人步行和臂取物作业的协调控制方法、腿式移动机器人推或牵引或提外部物体(即对象物)使其移动、腿式移动机器人移动、用手安装物品的方法的设计方案。The publication number or authorization number disclosed by Honda Corporation of Japan is CN100540237 called the control method of legged mobile robot, the disclosure or authorization number is CN1240524C, the biped walking robot, the disclosure or authorization number is CN1234507C biped walking robot, disclosure or authorization No. CN100566952 legged mobile robot and its control device and control method, public or authorized No. CN102300680A named robot arm control method, authorized announcement No. CN109571423A-robot control system, robot control method and robot control system users The device discloses a variety of legged mobile robots with arms, a variety of legs, multiple arms, a coordinated control method for the robot to walk and arm fetching operations, and a legged mobile robot to push or pull or lift external objects (i.e. objects Objects) to make them move, legged mobile robots move, and methods for installing objects by hand.
美国波士顿动力公司在中国公开的公开或授权号为CN109571544A-混合液压和电致动的移动式机器人、公开或授权号为CN110035872A-使用动态平衡在有腿机器人上的整体操纵、公开或授权号为CN110073579A-用于有腿机器人的马达和控制器整合、公开或授权号为波士顿-CN111482960A-机器人及其操作方法；公开了多种双足、四足即更多足的机器人、腿、臂、关节、用于致动机器人的关节部或构件的致动器、多种操控腿使机器人步行(站立、行走、跑、跳)、操控臂进行作业、同时操控腿和臂使机器人保持平衡的技术控制方案。The publication or authorization number published by Boston Dynamics in China is CN109571544A-mixed hydraulic and electric actuated mobile robot, the publication or authorization number is CN110035872A-the overall manipulation on legged robots using dynamic balance, the disclosure or authorization number is CN110073579A-Motor and controller integration for legged robots, public or authorized number is Boston-CN111482960A-robot and its operation method; discloses a variety of bipedal, quadrupedal or more-legged robots, legs, arms, joints , Actuators used to actuate the joints or components of the robot, a variety of control legs to make the robot walk (stand, walk, run, jump), control the arm to perform work, and control the technical control of the robot to maintain balance by manipulating the legs and arms at the same time plan.
作者为Pablo、出版号为“ISBN 978-7-5170-6388-9”的《四足运动-四足机器人控制技术》中公开了多种双足、四足、六足和八足机器人技术、足式机器人步态控制技术。双腿成对安装于机架的对侧，通过每一对腿支撑相和摆动相的交替实现步行。步态是步行移动的方法。步态是通过定义每只脚抬升和放置的时间和位置，同时辅以机体的6自由度运动以使机体移动。，步态指使足式机器人步行的执行腿部和机身运动的序列。步态分为不连续步态和连续步态。连续步态又分波浪步态、蟹行步态等。等。波浪步态指任何时候至少有3条腿处于支撑相。D-H正向运动学模型，选择关节与连杆相关联的参考坐标系，导出开链机构的运动学模型。也可以通过逆向运动学模型也即通过足的位置和反向确定关节的变量。支撑相即撑地。撑地即腿抵接地面和支撑机架离地。机架摆动相即相对于机架摆动和离地。The author is Pablo, and the publication number is "ISBN 978-7-5170-6388-9", which discloses a variety of biped, quadruped, hexapod and eight-leg robot technologies, Gait control technology for legged robots. The legs are installed on opposite sides of the frame in pairs, and walking is realized through the alternation of support phase and swing phase of each pair of legs. Gait is the method of moving on foot. Gait is achieved by defining when and where each foot is lifted and placed, complemented by 6 degrees of freedom of motion of the body to move the body. , a gait refers to the sequence of performing leg and body motions that make a legged robot walk. Gait is divided into discontinuous gait and continuous gait. Continuous gait is divided into wave gait, crab gait and so on. wait. Wavy gait is defined as having at least 3 legs in stance at any one time. D-H forward kinematics model, select the reference coordinate system associated with the joint and the connecting rod, and derive the kinematics model of the open chain mechanism. Joint variables can also be determined via the inverse kinematics model, ie via the position and inversion of the foot. To support the phase is to support the ground. Standing is when the legs touch the ground and the support frame lifts off the ground. The frame swing phase is relative to the frame swing and off the ground.
当前的挖掘机有很强的作业能力，但只能用挖掘臂抵地使挖掘机简单的挪动，而简单的挪动与以多腿交替撑地的方式(真正的)步行有本质区别，人型机器人、四足机器狗才能多腿交替(真正的)步行，速度快且灵活多变。但现有技术中人型机器人和四足机器狗又欠缺用腿进行(高性能、多场景)指定的作业的技术方案与相应能力，导致(高成本、多关节的、粗壮有力)的机械腿(严重)闲置、降低了性价比；现有技术中人型机器人、四足机器狗，用腿作业时存在容易失去稳定支撑(平衡)能力、倒地、肚子着地损伤的问题；现有技术中多种轮腿一体机器人，正因为其轮设置于腿上，一旦腿抬起进行作业时轮也跟着抬起离地，也存在整机很容易失去支撑、平衡能力、倒地损伤的问题；现有轮履式行走机构速度快效率高但有存在越障难的问题。所以亟需新技术解决上述问题中一个或多个，以提高含机械腿的设备的性能或能分摊、降低该设备的使用成本。The current excavator has a strong working ability, but it can only move the excavator simply by touching the ground with the excavator arm, and the simple movement is fundamentally different from the (real) walking with multiple legs alternately supporting the ground. Robots and four-legged robot dogs can walk with multiple legs alternately (true), fast and flexible. However, humanoid robots and quadruped robot dogs in the prior art lack the technical solutions and corresponding capabilities to perform (high performance, multi-scenario) specified operations with legs, resulting in (high cost, multi-joint, strong and powerful) mechanical legs (severe) Idle, reducing the cost performance; humanoid robots and quadruped robot dogs in the prior art have the problems of easily losing stable support (balance) ability, falling to the ground, and damage on the stomach when working with legs; This kind of wheel-leg integrated robot, because its wheels are set on the legs, once the legs are lifted up to carry out operations, the wheels will also be lifted off the ground, and there are also problems that the whole machine is easy to lose support, balance ability, and fall to the ground; The wheel-track walking mechanism has high speed and high efficiency, but it has the problem of difficulty in overcoming obstacles. Therefore, there is an urgent need for new technologies to solve one or more of the above problems, so as to improve the performance of equipment with mechanical legs or to share and reduce the cost of using the equipment.
发明内容Contents of the invention
为实现上述目的，本申请提供：To achieve the above purpose, this application provides:
技术方案1：一种可移动的设备，包括：机架(01)；Technical solution 1: a movable device, comprising: a rack (01);
以该设备沿路面行驶的行驶方向为参考，位于该设备的重心(O)的第一侧的机械腿(02)和位于该设备的重心(O)的第二侧的机械腿(02)，该第一侧的机械腿(02)和该第二侧的机械腿(02)均连接于该机架(01)；该第一侧的机械腿(02)和该第二侧的机械腿(02)配置为能步行；Taking the direction of travel of the device along the road as a reference, the mechanical leg (02) located on the first side of the center of gravity (O) of the device and the mechanical leg (02) located on the second side of the center of gravity (O) of the device, The mechanical leg (02) of the first side and the mechanical leg (02) of the second side are all connected to the frame (01); the mechanical leg (02) of the first side and the mechanical leg (02) of the second side ( 02) Configured to be able to walk;
且该第一侧的机械腿(02)和该第二侧的机械腿(02)中至少一条机械腿为腿臂融合的机械腿，该腿臂融合的机械腿的末端连接末端执行器，该末端执行器为作业工具(17)或用于连接作业工具 (17)的连接部；And at least one of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side is a mechanical leg with a leg-arm fusion, and the end of the mechanical leg with a leg-arm fusion is connected to an end effector, the The end effector is a work tool (17) or is used to connect a work tool (17) connecting portion;
该设备还包括连接于该机架(01)的滚动式行走机构(57)，该滚动式行走机构用于支撑该机架(01)离地和使该设备沿路面行驶；和/或，该设备还包括用于使该机械腿的基座相对于该机架(01)能实现上下运动和/或前后运动的腿根运动机构，该腿根运动机构的一端连接于该机架(01)，该腿根运动机构的另一端连接该机械腿的基座。该腿臂融合的机械腿和该作业工具(17)配置为用于指定的作业。步行即多腿交替步行。腿臂融合的机械腿即多功能的机械腿即具有臂功能的机械腿即腿臂融合的肢体机构，该四者等同。The equipment also includes a rolling traveling mechanism (57) connected to the frame (01), which is used to support the frame (01) off the ground and make the device travel along the road; and/or, the The device also includes a leg-root motion mechanism for enabling the base of the mechanical leg to move up and down and/or forward and backward relative to the frame (01), and one end of the leg-root motion mechanism is connected to the frame (01) , the other end of the leg root motion mechanism is connected to the base of the mechanical leg. The fused robotic leg and the work implement (17) are configured for a given work. Walking is walking on multiple legs alternately. The mechanical leg of leg-arm fusion is the multifunctional mechanical leg, that is, the mechanical leg with arm function, that is, the limb mechanism of leg-arm fusion, and the four are equivalent.
可选的，如技术方案1所述的可移动的设备，Optionally, the mobile device as described in technical solution 1,
该第一侧的机械腿(02)和该第二侧的机械腿(02)中任一条机械腿均包括：依次连接的第一关节部(101)、大腿(102)、第二关节部(103)和小腿(104)，该第二关节部(103)包括用于使该小腿(104)相对于该大腿(102)能前后摆动的第二摆动关节，该机械腿的基座指该第一关节部(101)所包括的第一个关节的基座，该机械腿的末端即该小腿(104)的末端；Any one of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side includes: a first joint part (101), a thigh (102), a second joint part ( 103) and the lower leg (104), the second joint part (103) includes a second swing joint for enabling the lower leg (104) to swing back and forth relative to the thigh (102), the base of the mechanical leg refers to the first a base of a first joint included in a joint part (101), the end of the mechanical leg being the end of the lower leg (104);
所述第一关节部(101)包括使所述大腿(102)相对于所述机械腿的基座能前后摆动的第一摆动关节(1012)，或所述第一关节部(101)包括使腿部旋转的第一旋转关节(1011)和使所述大腿(102)相对于所述机械腿的基座能前后摆动的第一摆动关节(1012)，所述第一旋转关节(1011)连接所述第一摆动关节(1012)。The first joint part (101) includes a first swing joint (1012) that allows the thigh (102) to swing back and forth relative to the base of the mechanical leg, or the first joint part (101) includes a A first rotary joint (1011) for leg rotation and a first swing joint (1012) for enabling the thigh (102) to swing back and forth relative to the base of the mechanical leg, the first rotary joint (1011) is connected to The first swing joint (1012).
该方案的有益价值：第一摆动关节(1012)使大腿(102)能前后摆动，第二摆动关节使小腿均能前后摆动，实现步行的基本性能。第一旋转关节(1011)能使大腿(102)下垂和使大腿(102)相对于该机械腿的基座左右摇摆，对于提高步行性能有益。Beneficial value of the solution: the first swing joint (1012) enables the thigh (102) to swing back and forth, and the second swing joint enables the lower leg to swing back and forth, thereby realizing the basic performance of walking. The first rotary joint (1011) can make the thigh (102) sag and make the thigh (102) swing left and right relative to the base of the mechanical leg, which is beneficial for improving walking performance.
可选的，如技术方案1所述的可移动的设备，Optionally, the mobile device as described in technical solution 1,
当该第一侧的机械腿(02)和该第二侧的机械腿(02)用于步行时，该第一侧的机械腿(02)和该第二侧的机械腿(02)中任一条机械腿所包括的第一个关节的输出轴指向前后或指向左右或指向下且该机械腿(02)所包括的大腿(102)的根部位于该第一个关节的基座的下方。When the mechanical leg (02) on the first side and the mechanical leg (02) on the second side are used for walking, any of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side The output shaft of the first joint included in a mechanical leg points forward and backward, left and right, or downward, and the root of the thigh (102) included in the mechanical leg (02) is located below the base of the first joint.
该第一旋转关节1011的输出轴指向前后的益处：用于扩大机械腿02在设备的前后区作业时活动范围。从作业的角度，在设备的前区或后区的作业非常重要，最主要的作业方位为前后区。相较于输出轴指向左右或上下，该输出轴指向前后方案使设备在前区或后区作业的范围更宽广。The benefit of the output shaft of the first rotary joint 1011 pointing forward and backward: it is used to expand the range of motion of the mechanical leg 02 when working in the front and rear areas of the equipment. From the perspective of operation, it is very important to work in the front or rear area of the equipment, and the most important working direction is the front and rear areas. Compared with the output shaft pointing to the left and right or up and down, the output shaft points to the front and back so that the equipment can work in a wider range in the front or rear area.
该第一旋转关节1011的输出轴指向左右的益处：利于机械腿在侧方空间作业。The benefit of the output shaft of the first rotary joint 1011 pointing to the left and right: it is beneficial for the mechanical leg to work in the side space.
该第一旋转关节1011的输出轴指向下的益处：利于机械腿对下方空间作业。The benefit of the output shaft of the first rotary joint 1011 pointing downward: it is beneficial for the mechanical leg to work in the space below.
该方案的有益效果(及与挖掘机的核心区别)：挖掘机的挖掘臂的第一关节的旋转轴心指向上下且挖掘臂的根部位于该第一个关节的基座的上方，挖掘臂可以绕竖轴前后左右旋转，从而导致载人舱也必须要和挖掘臂一起旋转否则两者就会相互干涉。进一步，因为载人舱需整体旋转、就必然无法坚固的连接于机架、无法在高速行驶中保障安全性、尤其是无法通过碰撞安全性测试，所以挖掘机只能缓慢挪动，丧失了汽车与摩托车类载人高速行驶的能力。这也是挖掘机与作为交通工具的汽车和摩托车的核心区别。这也是挖掘机与本申请中可移动的设备的核心区别。The beneficial effect of this scheme (and the core difference with the excavator): the rotation axis of the first joint of the digging arm of the excavator points up and down and the root of the digging arm is located above the base of the first joint, and the digging arm can Rotate back and forth around the vertical axis, so that the manned cabin must also rotate with the excavator arm, otherwise the two will interfere with each other. Furthermore, because the manned cabin needs to be rotated as a whole, it must not be firmly connected to the frame, cannot guarantee safety during high-speed driving, and especially cannot pass the collision safety test, so the excavator can only move slowly, losing the power of the car and the vehicle. The ability of motorcycles to carry people at high speeds. This is also the core difference between excavators and cars and motorcycles as vehicles. This is also the core difference between excavators and mobile equipment in this application.
本申请中可移动的设备中机械腿(02)的第一关节部(101)所包括的第一个关节第一旋转关节(1011)的输出轴指向前后或指向左右，机械腿(02)不会阻碍机架与载人舱的连接、不会导致载人舱需要旋转以避免与机械腿(02)干涉，从而可移动的设备允许高速行驶。In the mobile device in this application, the first joint (101) of the first joint (101) of the mechanical leg (02) includes the output shaft of the first rotary joint (1011) pointing forward and backward or left and right, and the mechanical leg (02) does not It will hinder the connection of the frame and the manned pod, and will not cause the manned pod to rotate to avoid interference with the mechanical legs (02), so that the movable equipment allows high speed travel.
可选的，如技术方案1所述的可移动的设备，Optionally, the mobile device as described in technical solution 1,
该机械腿的末端连接末端执行器为：该机械腿的末端通过第三关节部连接该末端执行器，该第三关节部用于调整该末端执行器的姿态；The end of the mechanical leg is connected to the end effector: the end of the mechanical leg is connected to the end effector through a third joint, and the third joint is used to adjust the attitude of the end effector;
该第三关节部包括使该末端执行器相对于该小腿(104)摆动用的关节(1052)，当该机械腿用于步行时，该关节(1052)能使该末端执行器上摆以防止该末端执行器触地；和/或，该第三关节部包括至少三个关节用于调整该末端执行器在三维空间的姿态。The third joint part includes a joint (1052) for swinging the end effector relative to the lower leg (104). When the mechanical leg is used for walking, the joint (1052) enables the end effector to swing up to prevent The end effector touches the ground; and/or, the third joint part includes at least three joints for adjusting the posture of the end effector in three-dimensional space.
该方案的有益价值：相较于机械腿的末端直接连接该末端执行器，该摆动用的关节(1052)使当机械腿用于步行时防止该末端执行器触地被踩坏。因为现实空间、物品以三维为主，至少三个关节能实现三维角度调整，利于提高作业性能。The beneficial value of this solution: Compared with the end of the mechanical leg directly connected to the end effector, the swing joint (1052) prevents the end effector from being trampled when the mechanical leg is used for walking. Because the real space and objects are mainly three-dimensional, at least three joints can realize three-dimensional angle adjustment, which is beneficial to improve operation performance.
该方案为与挖掘机的核心区别，挖掘机的挖掘臂只有四个关节，而只有六个关节、六自由度的机械腿才能将末端执行器到达臂展范围内任意位置与角度，才能实现真正高性能作业。The core difference between this solution and the excavator is that the excavator’s excavator arm has only four joints, and only six joints and six degrees of freedom mechanical legs can reach the end effector to any position and angle within the range of the arm, in order to achieve real High performance jobs.
第三关节部的一端连接该小腿(104)的末端，该第三关节部的另一端连接该末端执行器。One end of the third joint part is connected to the end of the lower leg (104), and the other end of the third joint part is connected to the end effector.
进一步的，该至少三个关节为依次连接的第一末端旋转用的关节(1051)、使该末端执行器相对 于该小腿(104)摆动用的关节(1052)、第二末端旋转用的关节(1053)，该第一末端旋转用的关节(1051)用于使该末端执行器绕该关节(1051)输出轴的轴线旋转，该第二末端旋转用的关节(1053)用于使该末端执行器绕该关节(1053)输出轴的轴线(A6)旋转。Further, the at least three joints are sequentially connected joints (1051) for first end rotation, so that the end effectors are relatively The joint (1052) for swinging the lower leg (104), the joint (1053) for the second end rotation, and the joint (1051) for the first end rotation is used to make the end effector output around the joint (1051) The axis of the shaft rotates, and the second end-rotation joint (1053) is used to rotate the end effector about the axis (A6) of the output shaft of the joint (1053).
该方案的有益价值：该三个关节构成为典型RBR关节，相较于其他类型具有更良好的作业性能。Beneficial value of this scheme: the three joints constitute a typical RBR joint, which has better working performance than other types.
可选的，如技术方案1所述的可移动的设备，在该机架(01)的第一端、该机架(01)的中部与该机架(01)的第二端中任意一个区间内的该第一侧的机械腿(02)的基座和该第二侧的机械腿(02)的基座通过第二支架连接，当通过该第二支架连接的该第一侧的机械腿(02)和该第二侧的机械腿(02)断开与该机架(01)的连接时，通过该第二支架连接的该第一侧的机械腿(02)和该第二侧的机械腿(02)能独立于该设备沿路面步行。Optionally, for the movable device as described in technical solution 1, at any one of the first end of the rack (01), the middle of the rack (01) and the second end of the rack (01) The base of the mechanical leg (02) on the first side and the base of the mechanical leg (02) on the second side in the interval are connected through the second bracket, when the mechanical leg (02) on the first side connected through the second bracket When the leg (02) and the mechanical leg (02) on the second side are disconnected from the frame (01), the mechanical leg (02) on the first side connected by the second bracket and the second side The mechanical legs (02) can walk along the road independently of the device.
该方案的有益价值：该机械腿(02)能独立于该设备沿路面步行，一机能变成两机分别执行任务，有重要意义。Beneficial value of the scheme: the mechanical leg (02) can walk along the road independently of the device, and one function can become two machines to perform tasks respectively, which is of great significance.
可选的，如技术方案1所述的可移动的设备，该用于连接作业工具(17)的连接部为抓取装置(06)，和/或该连接为抓取。该方案的有益价值：抓取装置(06)相比于螺纹连接或固定连接，能更方便的更换作业工具(17)或作业对象，便于作业。Optionally, for the mobile device according to technical solution 1, the connection part for connecting the working tool (17) is a grabbing device (06), and/or the connection is grabbing. Beneficial value of the solution: compared with threaded connection or fixed connection, the grabbing device (06) can more conveniently replace the working tool (17) or working object, which is convenient for working.
进一步的，该抓取装置(06)包含：用于取物的线性移动机构(06_2)，该线性移动机构(06_2)一端连接所述腿臂融合的机械腿的末端，另一端连接用于钩物体的钩(06_3)，该线性移动机构(06_2)用于驱动该钩(06_3)直线运动以抓取物体或释放物体。Further, the grabbing device (06) includes: a linear moving mechanism (06_2) for fetching objects, one end of the linear moving mechanism (06_2) is connected to the end of the mechanical leg of the leg-arm fusion, and the other end is connected to the hook The hook (06_3) of the object, the linear movement mechanism (06_2) is used to drive the hook (06_3) to move linearly to grab the object or release the object.
该方案的有益价值：常见的抓取装置(06)为手指铰接式抓取装置，通过多个手指对握来抓取物体。因本文中设备中多功能的机械腿02不仅用步行，还兼具持物作业或沿外部物体攀爬功能，尤其需要可靠的抓取能力(否则将难以握稳作业工具或攀爬时易坠)，该取物装置06采用钩直线抓取的方式，相较于现有技术中铰接式摆动、手指对握的抓取装置的夹持方案，有更大抓取力度、更高抓取可靠性。Beneficial value of this solution: the common grasping device (06) is a finger-articulated grasping device, which grasps objects by holding multiple fingers together. Therefore, the multi-functional mechanical leg 02 in the equipment in this article is not only used for walking, but also has the function of holding objects or climbing along external objects, especially reliable grasping ability (otherwise it will be difficult to hold the work tool stably or it will easily fall when climbing) , the pick-up device 06 adopts the way of grabbing in a straight line with a hook. Compared with the clamping scheme of the grabbing device with articulated swing and fingers gripping in the prior art, it has greater grabbing force and higher grabbing reliability. .
2.可选的技术方案2：如技术方案1所述的可移动的设备，2. Optional technical solution 2: the mobile device as described in technical solution 1,
该滚动式行走机构(57)包括连接于该机架(01)的第一行走机构(511)和第二行走机构(522)，当该机架(01)的姿态为第一卧姿时，该第一行走机构(511)位于该可移动的设备的重心(O)之前，该第二行走机构(522)位于该可移动的设备的重心(O)之后，该第一行走机构(511)的下表面和该第二行走机构(522)的下表面均低于该机架(01)的第二区域的表面，该第一行走机构(511)和该第二行走机构(522)用于支撑该机架(01)离地和使该设备沿路面行驶；The rolling running gear (57) includes a first running gear (511) and a second running gear (522) that are connected to the frame (01), and when the posture of the frame (01) is the first lying position, The first traveling mechanism (511) is located in front of the center of gravity (O) of the movable equipment, the second traveling mechanism (522) is located behind the center of gravity (O) of the movable equipment, and the first traveling mechanism (511) The lower surface of the lower surface and the lower surface of the second running gear (522) are lower than the surface of the second area of the frame (01), the first running gear (511) and the second running gear (522) are used for supporting the frame (01) off the ground and making the device run along the road;
和/或，and / or,
该滚动式行走机构(57)包括连接于该机架(01)的第三行走机构，该第三行走机构为履带式行走机构(07)，当该机架(01)的姿态为第一卧姿时，该第三行走机构的下表面低于该机架(01)的第二区域的表面，该第三行走机构用于支撑该机架(01)离地和使该设备沿路面行驶，且该设备的重心(O)点的前后左右方均有该第三行走机构的抵地点。The rolling traveling mechanism (57) includes a third traveling mechanism connected to the frame (01). The third traveling mechanism is a crawler type traveling mechanism (07). When the posture of the frame (01) is the first horizontal In the posture, the lower surface of the third traveling mechanism is lower than the surface of the second area of the frame (01), and the third traveling mechanism is used to support the frame (01) off the ground and make the equipment travel along the road surface, And the center of gravity (O) point of this equipment all has the arrival point of this 3rd running mechanism on the front, rear, left and right sides.
该方案的有益价值：第一行走机构和第二行走机构前后分置，能构成标准的前后轮行走机构，该机构(如同汽车或摩托车的车轮方案)在平路行驶时效率高、速度快。Beneficial value of this scheme: the first running mechanism and the second running mechanism are separated front and rear, which can form a standard front and rear wheel running mechanism. This mechanism (like the wheel scheme of a car or motorcycle) has high efficiency and fast speed when driving on flat roads .
履带式行走机构，在沙滩、雪地时能提供比轮机构更大的抓地能力，也跟适合爬楼梯。The tracked walking mechanism can provide greater grip than the wheel mechanism on the beach and snow, and is also suitable for climbing stairs.
可选的，如技术方案2所述的可移动的设备，包括第一特征、第二特征、第三特征、第四特征中任一个或任意多个：Optionally, the mobile device according to technical solution 2 includes any one or more of the first feature, the second feature, the third feature, and the fourth feature:
第一特征：当该机架(01)的姿态为第一卧姿时，该第一行走机构(511)的第一端的边缘位于该机架(01)的靠近该第二区域的表面的第一端的边缘的前方；和/或，First feature: when the posture of the frame (01) is the first prone position, the edge of the first end of the first traveling mechanism (511) is located on the surface of the frame (01) close to the second area forward of the edge of the first end; and/or,
第二特征：当该机架(01)的姿态为第一卧姿时，该第二行走机构(522)的第二端的边缘位于该机架(01)的靠近该第二区域的表面的第二端的边缘的后方；和/或，Second feature: when the posture of the frame (01) is the first prone position, the edge of the second end of the second walking mechanism (522) is located on the first surface of the frame (01) close to the second area. behind the edges of both ends; and/or,
第三特征：该设备包括连接于该机架(01)的第一端的第一区域的行走轮，当该机架(01)的姿态为第一卧姿时：该第一端的第一区域的行走轮的上表面高于该机架(01)的第一端的第一区域的表面，和/或该第一端的第一区域的行走轮的第一端的边缘位于该机架(01)的靠近该第一区域的表面的第一端的边缘的前方；The third feature: the device includes road wheels connected to the first area of the first end of the frame (01), when the frame (01) is in the first prone position: the first end of the first end The upper surface of the road wheels of the area is higher than the surface of the first area of the first end of the frame (01), and/or the edge of the first end of the road wheels of the first area of the first end is located at the frame (01) in front of the edge near the first end of the surface of the first region;
和/或，and / or,
第四特征：该设备包括连接于该机架(01)的第二端的第一区域的行走轮，当该机架(01)的姿态为第一卧姿时：该第二端的第一区域的行走轮的上表面高于该机架(01)的第二端的第一区域的表面，和/或该第二端的第一区域的行走轮的第二端的边缘位于该机架(01)的靠近该第一区域的 表面的第二端的边缘的后方。Fourth feature: the device includes road wheels connected to the first area of the second end of the frame (01), when the frame (01) is in the first prone position: the first area of the second end The upper surface of the road wheels is higher than the surface of the first area of the second end of the frame (01), and/or the edge of the second end of the road wheels of the first area of the second end is located near the frame (01) of the first area behind the edge of the second end of the surface.
该第一特征的有益效果：Beneficial effects of this first feature:
当该机架(01)的姿态为第二立姿时，该第一行走机构(511)能支撑该机架(01)的靠近该第二区域的表面的第一端的边缘离地，该第二立姿为该机架(01)的第一端朝地和该机架(01)的第二端朝上；When the posture of the frame (01) is the second standing posture, the first running mechanism (511) can support the edge of the first end of the frame (01) close to the surface of the second area from the ground, the first Two standing postures are that the first end of the frame (01) faces the ground and the second end of the frame (01) faces upwards;
该第二特征的有益效果：当该机架(01)的姿态为第一立姿时，该第二行走机构(522)能支撑该机架(01)的靠近该第二区域的表面的第二端的边缘离地，该第一立姿为该机架(01)的第二端朝地和该机架(01)的第一端朝上。The beneficial effect of the second feature: when the posture of the frame (01) is the first standing posture, the second walking mechanism (522) can support the second side of the surface of the frame (01) close to the second area. The edge of the end is off the ground, and the first standing posture is that the second end of the frame (01) faces the ground and the first end of the frame (01) faces upward.
该第三特征的有益效果：Beneficial effects of this third feature:
当该机架(01)的姿态为第一卧姿时该第一端的第一区域的行走轮的第一端的边缘位于该机架(01)的靠近该第一区域的表面的第一端的边缘的前方，该特征的有益价值为：当该机架(01)的姿态为第二立姿时该第一端的第一区域的行走轮能支撑该机架(01)的靠近该第一区域的表面的第一端的边缘离地。When the posture of the frame (01) was the first prone position, the edge of the first end of the road wheel in the first area of the first end was located at the first end of the surface of the frame (01) close to the first area. The front edge of the end, the beneficial value of this feature is: when the posture of the frame (01) is the second standing posture, the walking wheels in the first area of the first end can support the frame (01) close to the first An edge of the first end of the surface of a region is off the ground.
当该机架(01)的姿态为第一卧姿时该第一端的第一区域的行走轮的上表面高于该机架(01)的第一端的第一区域的表面的第一端的第一区域的行走轮的上表面特征，该特征的有益价值为：当该机架(01)的姿态为第二卧姿时，该第一端的第一区域的行走轮能支撑该机架(01)的第一端的第一区域的表面离地。When the posture of the frame (01) is the first prone position, the upper surface of the road wheels in the first region of the first end is higher than the first surface of the first region of the first end of the frame (01). The upper surface feature of the road wheels in the first area of the first end, the beneficial value of this feature is: when the posture of the frame (01) is the second prone position, the road wheels in the first area of the first end can support the The surface of the first region of the first end of the frame (01) is off the ground.
该第四特征的有益效果：The beneficial effects of the fourth feature:
当该机架(01)的姿态为第一卧姿时该第二端的第一区域的行走轮的第二端的边缘位于该机架(01)的靠近该第一区域的表面的第二端的边缘的后方，该特征的有益价值为：当该机架(01)的姿态为第一立姿时该第二端的第一区域的行走轮能支撑该机架(01)的靠近该第一区域的表面的第二端的边缘离地。When the posture of the frame (01) is the first prone position, the edge of the second end of the road wheel in the first area of the second end is located at the edge of the second end of the surface of the frame (01) close to the first area The beneficial value of this feature is: when the posture of the frame (01) is the first standing posture, the walking wheels in the first area of the second end can support the surface of the frame (01) close to the first area The edge of the second end is off the ground.
当该机架(01)的姿态为第一卧姿时该第二端的第一区域的行走轮的上表面高于该机架(01)的第二端的第一区域的表面的第二端的第一区域的行走轮的上表面特征，该特征的有益价值为：当该机架(01)的姿态为第二卧姿时，该第二端的第一区域的行走轮能支撑该机架(01)的第二端的第一区域的表面离地。When the posture of the frame (01) is the first prone position, the upper surface of the road wheels in the first region of the second end is higher than the second end of the surface of the first region of the second end of the frame (01). The upper surface feature of the road wheels in a region, the beneficial value of this feature is: when the posture of the frame (01) is the second prone position, the road wheels in the first region of the second end can support the frame (01 The surface of the first region of the second end of ) is off the ground.
第一特征+第三特征中该第一端的第一区域的行走轮的第一端的边缘位于该机架(01)的靠近该第一区域的表面的第一端的边缘的前方的有益效果：当该机架(01)的姿态为第二立姿时，该第一行走机构(511)和该第一端的第一区域的行走轮能支撑该机架(01)的第一端的边缘离地。In the first feature+the third feature, the edge of the first end of the road wheel in the first area of the first end is located in front of the edge of the first end of the surface of the frame (01) close to the first area. Effect: when the posture of the frame (01) is the second standing posture, the first traveling mechanism (511) and the road wheels in the first area of the first end can support the first end of the frame (01). Edge off the ground.
第二特征+第四特征中该第二端的第一区域的行走轮的第二端的边缘位于该机架(01)的靠近该第一区域的表面的第二端的边缘的后方的有益效果：当该机架(01)的姿态为第一立姿时，该第二行走机构(522)和该第二端的第一区域的行走轮能支撑该机架(01)的第二端的边缘离地。The second feature + the beneficial effect of the fourth feature that the edge of the second end of the road wheel in the first area of the second end is located behind the edge of the second end of the surface of the frame (01) close to the first area: when When the posture of the frame (01) is the first standing posture, the second traveling mechanism (522) and the running wheels in the first area of the second end can support the edge of the second end of the frame (01) off the ground.
该第三特征中该第一端的第一区域的行走轮的上表面高于该机架(01)的第一端的第一区域的表面+第四特征中该第二端的第一区域的行走轮的上表面高于该机架(01)的第二端的第一区域的表面的有益效果：当该机架(01)的姿态为第二卧姿时，该第一端的第一区域的行走轮与该第二端的第一区域的行走轮能支撑该机架(01)的该机架(01)的第一区域的表面离地。The upper surface of the road wheel in the first area of the first end in the third feature is higher than the surface of the first area of the first end of the frame (01) + the first area of the second end in the fourth feature The beneficial effect of the upper surface of the walking wheel being higher than the surface of the first area of the second end of the frame (01): when the posture of the frame (01) is the second prone position, the first area of the first end The road wheels and the road wheels in the first area of the second end can support the surface of the frame (01) in the first area of the frame (01) off the ground.
在第一卧姿、第二卧姿、第一立姿和第二立姿中任一姿态中，朝地的边缘有一端设有用于支撑该端离地的轮就能减小该姿态时机架(01)沿地面滑行的阻力，就有很好的效果。朝地的边缘的两端均设有用于支撑该朝地的边缘离地的轮，就能更佳减小该姿态时机架(01)沿地面滑行的阻力。减小该姿态时机架(01)沿地面滑行的阻力，便于该机架(01)能在该姿态时沿地面移动，便于该腿臂融合的机械腿进行指定的作业时根据作业的需求调整该机架(01)前后左右的位置，能提高作业性能。In any posture in the first prone position, the second prone position, the first standing position and the second standing position, one end of the edge facing the ground is provided with a wheel for supporting the end off the ground and the frame ( 01) The resistance of sliding along the ground has a very good effect. Both ends of the edge towards the ground are provided with wheels for supporting the edge towards the ground from the ground, so that the resistance of the frame (01) sliding along the ground during this posture can be better reduced. Reduce the resistance of the frame (01) sliding along the ground in this posture, so that the frame (01) can move along the ground in this posture, and facilitate the adjustment of the mechanical legs of the leg-arm fusion according to the needs of the operation when performing specified operations The front, rear, left, and right positions of the frame (01) can improve workability.
3.可选的技术方案3：如技术方案2所述的可移动的设备，3. Optional technical solution 3: the mobile device as described in technical solution 2,
该设备还包括第一升降机构(211)和第二升降机构(222)，该第一升降机构(211)和该第二升降机构(222)的一端均连接于该机架(01)，该第一升降机构(211)的另一端连接第一行走机构(511)，该第一升降机构(211)用于使该第一行走机构(511)相对于该机架(01)升降，该第二升降机构(222)的另一端连接第二行走机构(522)，该第二升降机构(222)用于使该第二行走机构(522)相对于该机架(01)升降；和/或，该设备还包括该第三升降机构，该第三升降机构的一端连接于该机架(01)，该第三升降机构的另一端连接第三行走机构，该第三升降机构用于使该第三行走机构相对于该机架(01)升降。 The equipment also includes a first lifting mechanism (211) and a second lifting mechanism (222), one end of the first lifting mechanism (211) and the second lifting mechanism (222) are connected to the frame (01), the The other end of the first elevating mechanism (211) is connected to the first traveling mechanism (511), and the first elevating mechanism (211) is used to lift the first traveling mechanism (511) relative to the frame (01). The other end of the two lifting mechanisms (222) is connected to the second traveling mechanism (522), and the second lifting mechanism (222) is used to lift the second traveling mechanism (522) relative to the frame (01); and/or , the equipment also includes the third lifting mechanism, one end of the third lifting mechanism is connected to the frame (01), the other end of the third lifting mechanism is connected to the third traveling mechanism, and the third lifting mechanism is used to make the The 3rd traveling gear is lifted relative to this frame (01).
现有技术中机器人还存在机械腿用于作业离地时整机不便于进行姿态和/或对地高度的问题。该升降机构不仅仅能提升设备越障能力(例如将机架抬高以越障、例如使待越障的滚动式行走机构对地抬升以越障)，还能在用机械腿作业时调整设备的姿态和/或对地高度，有益于提高作业质量。Robots in the prior art also have the problem that the whole machine is inconvenient to perform posture and/or ground height when the mechanical legs are used for work off the ground. The lifting mechanism can not only improve the equipment's ability to overcome obstacles (such as raising the frame to overcome obstacles, such as lifting the rolling walking mechanism to be overcome to the ground to overcome obstacles), but also adjust the equipment when working with mechanical legs. The attitude and/or height above the ground are beneficial to improve the quality of work.
且如果该滚动式行走机构和该滚动件升降机构配置为可分段升降的滚动式行走机构群，则使得设备能具有独特的越障能力，能大幅减轻机械腿02用于步行、越障的使用频率；因为用机械腿步行和撑地使需要将设备整机抬起承受很大的载荷，所以本方案能将降低机械腿的损害概率、延长寿命、降低了对机械腿载荷能力的需求，因为机械腿为多连杆摆动机构，灵活性强但造价高，降低载荷能力的需求就能大幅度降低机械腿、设备的制造和使用成本。And if the rolling traveling mechanism and the rolling member lifting mechanism are configured as a group of rolling traveling mechanisms that can be raised and lowered in sections, the equipment can have a unique obstacle-surmounting ability, which can greatly reduce the mechanical leg 02 for walking and obstacle-crossing. Frequency of use; because walking and supporting the ground with mechanical legs requires lifting the whole machine to bear a large load, so this solution can reduce the damage probability of mechanical legs, prolong life, and reduce the demand for the load capacity of mechanical legs. Because the mechanical leg is a multi-link swing mechanism, it has strong flexibility but high cost. Reducing the demand for load capacity can greatly reduce the cost of manufacturing and using the mechanical leg and equipment.
可选的，如技术方案2所述的可移动的设备，其特征在于，Optionally, the mobile device as described in technical solution 2, is characterized in that,
该第一行走机构(511)为第一行走轮或第一分布式履带机构；和/或，The first traveling mechanism (511) is the first traveling wheel or the first distributed crawler mechanism; and/or,
该第二行走机构(522)为第二行走轮或第二分布式履带机构；和/或，The second traveling mechanism (522) is a second traveling wheel or a second distributed crawler mechanism; and/or,
该第一行走机构(511)包括设置于该设备的重心(O)的第一侧的第一行走机构(051)和设置于该重心(O)的第二侧的第一行走机构(053),和/或该第二行走机构(522)包括设置于该设备的重心(O)的第一侧的第二行走机构(052)和设置于该重心(O)的第二侧的第二行走机构(054)；和/或，The first traveling mechanism (511) includes a first traveling mechanism (051) arranged on a first side of the center of gravity (O) of the equipment and a first traveling mechanism (053) arranged on a second side of the center of gravity (O) , and/or the second traveling mechanism (522) includes a second traveling mechanism (052) arranged on the first side of the center of gravity (O) of the equipment and a second walking mechanism arranged on the second side of the center of gravity (O) Agency (054); and/or,
当由该第一行走机构(511)和该第二行走机构(522)所组成的滚动式行走机构断开与该机架(01)的连接时，该滚动式行走机构能独立于该设备沿路面行驶；和/或，When the rolling traveling mechanism composed of the first traveling mechanism (511) and the second traveling mechanism (522) is disconnected from the frame (01), the rolling traveling mechanism can be independent of the equipment along the road driving in front of you; and/or,
当履带式行走机构(07)断开与该机架(01)的连接时，该履带式行走机构(07)能独立于该设备沿路面行驶。When the crawler-type traveling mechanism (07) is disconnected from the frame (01), the crawler-type traveling mechanism (07) can run along the road independently of the equipment.
该方案的有益价值：第一行走机构为第一行走轮，第二行走机构为第二行走轮，行走轮成本低、平路行驶速度快、效率高。分布式履带机构相较于轮利于防滑。第一行走机构包括左右分置的行走机构，或第二行走机构包括左右分置的行走机构，类似于行走机构成为三轮车或四轮车，在支撑机架离地时能提高静态稳定性。行走机构能独立于该设备沿路面行驶，一机变两机，能分别执行不同的任务。Beneficial value of the scheme: the first traveling mechanism is the first traveling wheel, the second traveling mechanism is the second traveling wheel, the cost of the traveling wheels is low, the driving speed on flat roads is fast, and the efficiency is high. Compared with wheels, distributed crawler mechanisms are more conducive to anti-skid. The first running mechanism includes a left and right running mechanism, or the second running mechanism includes a left and right running mechanism, which is similar to a tricycle or a four-wheel vehicle as the running mechanism, and can improve static stability when the supporting frame is off the ground. The traveling mechanism can run along the road independently of the equipment, and one machine can be transformed into two machines, which can perform different tasks respectively.
4.可选的技术方案4：如技术方案1所述的可移动的设备，4. Optional technical solution 4: the mobile device as described in technical solution 1,
该腿根运动机构包括连接支架的第一线性运动机构(184)，该第一线性运动机构(184)设置于该机架(01)的下方或第一侧或第二侧，该第一线性运动机构(184)的基座的连接于该机架(01)，该第一线性运动机构(184)的输出件连接支架，该支架的第一侧的部件连接第一侧的该腿臂融合的机械腿的基座，该支架的第二侧的部件连接第二侧的该腿臂融合的机械腿的基座，该第一线性运动机构用于：带动第一侧的该机械腿的基座和第二侧的该机械腿的基座在该机架(01)的第一端与该机架(01)的第二端之间移动或在该机架(01)的第一端与该机架(01)的中部之间移动或在该机架(01)的中部与该机架(01)的第二端之间移动；或，The leg movement mechanism includes a first linear movement mechanism (184) connected to the bracket, the first linear movement mechanism (184) is arranged on the bottom of the frame (01) or on the first side or the second side, the first linear movement mechanism The base of the kinematic mechanism (184) is connected to the frame (01), the output part of the first linear kinematic mechanism (184) is connected to the bracket, and the first side part of the bracket is connected to the leg-arm fusion of the first side. The base of the mechanical leg, the component on the second side of the bracket is connected to the base of the mechanical leg fused with the leg arm on the second side, and the first linear motion mechanism is used to: drive the base of the mechanical leg on the first side The base of the mechanical leg of the seat and the second side moves between the first end of the frame (01) and the second end of the frame (01) or between the first end of the frame (01) and the second end of the frame (01). moving between the middle of the rack (01) or between the middle of the rack (01) and the second end of the rack (01); or,
该腿根运动机构包括设置于该机架(01)的第一侧的第一线性运动机构(184L),该第一侧的第一线性运动机构(184L)的基座的连接于该机架(01)，该第一侧的第一线性运动机构(184L)的输出件连接第一侧的该腿臂融合的机械腿的基座，该第一侧的第一线性运动机构(184L)用于：带动第一侧的该机械腿的基座在该机架(01)的第一端与该机架(01)的第二端之间移动或在该机架(01)的第一端与该机架(01)的中部之间移动或在该机架(01)的中部与该机架(01)的第二端之间移动，和/或，The leg movement mechanism includes a first linear movement mechanism (184L) arranged on the first side of the frame (01), and the base of the first linear movement mechanism (184L) on the first side is connected to the frame (01), the output member of the first linear motion mechanism (184L) on the first side is connected to the base of the mechanical leg of the leg-arm fusion on the first side, and the first linear motion mechanism (184L) on the first side is used In: driving the base of the mechanical leg on the first side to move between the first end of the frame (01) and the second end of the frame (01) or between the first end of the frame (01) move between the middle of the rack (01) or between the middle of the rack (01) and the second end of the rack (01), and/or,
该腿根运动机构包括设置于该机架(01)的第二侧的第一线性运动机构(184R),该第二侧的第一线性运动机构(184R)的基座的连接于该机架(01)，该第二侧的第一线性运动机构(184L)的输出件连接第二侧的该腿臂融合的机械腿的基座，该第二侧的第一线性运动机构(184R)用于：带动第二侧的该机械腿的基座在该机架(01)的第一端与该机架(01)的第二端之间移动或在该机架(01)的第一端与该机架(01)的中部之间移动或在该机架(01)的中部与该机架(01)的第二端之间移动。或，The leg movement mechanism includes a first linear movement mechanism (184R) arranged on the second side of the frame (01), and the base of the first linear movement mechanism (184R) on the second side is connected to the frame (01), the output member of the first linear motion mechanism (184L) on the second side is connected to the base of the mechanical leg of the leg-arm fusion on the second side, and the first linear motion mechanism (184R) on the second side uses In: driving the base of the mechanical leg on the second side to move between the first end of the frame (01) and the second end of the frame (01) or between the first end of the frame (01) and between the middle of the rack (01) or between the middle of the rack (01) and the second end of the rack (01). or,
该腿根运动机构包括设置于该机架(01)的第一侧的第一腿根摆动机构(19L),该第一侧的第一腿根摆动机构(19L)的基座的连接于该机架(01)，且该第一侧的第一腿根摆动机构(19L)的旋转轴指向左右，该第一侧的第一腿根摆动机构(19L)的输出件连接第一侧的该腿臂融合的机械腿的基座，该第一侧的第一腿根摆动机构(19L)用于：带动第一侧的该机械腿的基座在该机架(01)的第一侧的第一端、该机架(01)的第一侧的中部与该机架(01)的第一侧的第二端中任意两种位置之间摆动，和/或， The leg movement mechanism includes a first leg swing mechanism (19L) arranged on the first side of the frame (01), the base of the first leg swing mechanism (19L) on the first side is connected to the frame (01), and the rotation axis of the first leg swing mechanism (19L) on the first side is directed to the left and right, and the output member of the first leg swing mechanism (19L) on the first side is connected to the first side The base of the mechanical leg of leg-arm fusion, the first leg root swing mechanism (19L) on the first side is used to: drive the base of the mechanical leg on the first side on the first side of the frame (01) swing between any two positions of the first end, the middle of the first side of the frame (01) and the second end of the first side of the frame (01), and/or,
该腿根运动机构包括设置于该机架(01)的第二侧的第一腿根摆动机构(19R),该第二侧的第一腿根摆动机构(19R)的基座的连接于该机架(01)，且该第二侧的第一腿根摆动机构(19R)的旋转轴指向左右，该第二侧的第一腿根摆动机构(19R)的输出件连接第二侧的该腿臂融合的机械腿的基座，该第二侧的第一腿根摆动机构(19R)用于：带动第二侧的该机械腿的基座在该机架(01)的第二侧的第一端、该机架(01)的第二侧的中部与该机架(01)的第二侧的第二端中任意两种位置之间摆动。The leg movement mechanism includes a first leg swing mechanism (19R) arranged on the second side of the frame (01), the base of the first leg swing mechanism (19R) on the second side is connected to the frame (01), and the rotation axis of the first leg swing mechanism (19R) on the second side is directed to the left and right, and the output member of the first leg swing mechanism (19R) on the second side is connected to the second side The base of the mechanical leg of leg-arm fusion, the first leg root swing mechanism (19R) on the second side is used to: drive the base of the mechanical leg on the second side on the second side of the frame (01) The first end, the middle part of the second side of the frame (01) and the second end of the second side of the frame (01) can swing between any two positions.
该方案的有益效果：腿根运动机构能实现腿的前后运动，第一线性运动机构和第一腿根摆动机构相较于机械腿成本低，使2条腿能发挥更大价值。The beneficial effect of the solution is that the leg root motion mechanism can realize the forward and backward movement of the leg, and the cost of the first linear motion mechanism and the first leg root swing mechanism is lower than that of the mechanical leg, so that the two legs can exert greater value.
5.可选的技术方案5：如技术方案1所述的可移动的设备，该腿根运动机构包括5. Optional technical solution 5: the mobile device as described in technical solution 1, the leg movement mechanism includes
设置于该机架(01)的第一侧的第一端的第二线性运动机构(121L)和/或设置于该机架(01)的第二侧的第一端的第二线性运动机构(121R)和/或设置于该机架(01)的第一侧的第二端的第二线性运动机构(122L)和/或设置于该机架(01)的第二侧的第二端的第二线性运动机构(122R)；该第一侧的机械腿(02)包括第一侧的第一端的机械腿(021L)和第一侧的第二端的机械腿(022L)；该第二侧的机械腿(02)包括第二侧的第一端的机械腿(021R)和第二侧的第二端的机械腿(022R)；The second linear motion mechanism (121L) disposed at the first end of the first side of the frame (01) and/or the second linear motion mechanism disposed at the first end of the second side of the frame (01) (121R) and/or the second linear motion mechanism (122L) arranged at the second end of the first side of the frame (01) and/or the second linear motion mechanism (122L) arranged at the second end of the second side of the frame (01) Two linear motion mechanisms (122R); the mechanical leg (02) of the first side includes a mechanical leg (021L) at the first end of the first side and a mechanical leg (022L) at the second end of the first side; the second side The mechanical leg (02) includes the mechanical leg (021R) at the first end of the second side and the mechanical leg (022R) at the second end of the second side;
该第一侧的第一端、该第一侧的第二端、该第二侧的第一端和该第二侧的第二端中任一方位的该第二线性运动机构的基座的两端分别指向该机架(01)的第一区域的表面和该机架(01)的第二区域的表面，该第二线性运动机构的基座的连接于该机架(01)，该第二线性运动机构的输出件连接该任一方位的机械腿的基座；该第二线性运动机构能带动该机械腿的基座运动到第一区域，以使该机械腿的在第一区域进行指定的作业或攀爬，和/或，该第二线性运动机构也能带动该机械腿的基座运动到第二区域(下部)，以使该机械腿在第二区域(下部)进行指定的作业或步行。The first end of the first side, the second end of the first side, the first end of the second side, and the second end of the second side of the base of the second linear motion mechanism in any orientation The two ends are respectively directed to the surface of the first area of the frame (01) and the surface of the second area of the frame (01), the base of the second linear motion mechanism is connected to the frame (01), the The output part of the second linear motion mechanism is connected to the base of the mechanical leg in any orientation; the second linear motion mechanism can drive the base of the mechanical leg to move to the first area, so that the mechanical leg in the first area Perform specified operations or climb, and/or, the second linear motion mechanism can also drive the base of the mechanical leg to move to the second area (lower part), so that the mechanical leg can be designated in the second area (lower part) homework or walking.
该方案的有益效果：第二线性运动机构能实现腿根升降，且第二线性运动机构相较于机械腿成本低，使腿能发挥更大价值。The beneficial effect of the solution: the second linear motion mechanism can realize the lifting of the leg root, and the cost of the second linear motion mechanism is lower than that of the mechanical leg, so that the leg can exert greater value.
6.可选的，如技术方案1所述的可移动的设备，其特征在于，该指定的作业包括以从人员下方托住人员的方式搬运人员、带动该机械腿(02)末端所连接的作业工具(17)以抓取连接人员的柔性物体的方式搬运人员、切割物体、挖掘、铲物、挖掘或铲物、采摘物品、耕种、涂刷物品、取砖垒墙、焊接物品、旋转紧固件以安装或拆卸物品、喷射物体中任一种。6. Optionally, the movable equipment as described in technical solution 1, is characterized in that, the specified operation includes carrying the personnel in the manner of supporting the personnel from below the personnel, driving the machine connected to the end of the mechanical leg (02) Work tools (17) carry people, cut objects, dig, shovel, dig or shovel, pick objects, cultivate, paint objects, take bricks and build walls, weld objects, rotate tight Firmware to attach or detach items, eject objects either.
该方案的有益效果：提升(多关节、粗壮、高成本的)腿作业能力降低资源浪费。Beneficial effect of the scheme: improving (multi-joint, thick, high-cost) leg working ability and reducing waste of resources.
7.可选的，该可移动的设备在作业时，该机架(01)的姿态既能为第一卧姿也能为立姿，该立姿为第一立姿或第二立姿。7. Optionally, when the movable equipment is in operation, the posture of the frame (01) can be either the first lying posture or the standing posture, and the standing posture is the first standing posture or the second standing posture.
该方案的有益效果：机架(01)的姿态为第一卧姿，此时机架(01)的长度大于高度，此时设备相当于虎式机器人，适合于对地作业或对前方作业或对侧方作业；机架(01)的姿态为立姿，此时机架(01)的高度大于前后方向的长度，此时设备相当于人型机器人，利于对高于第一卧姿时的空间进行作业或攀爬。Beneficial effects of the scheme: the attitude of the frame (01) is the first lying position, and the length of the frame (01) is greater than the height at this moment, and the equipment is equivalent to a tiger robot at this moment, and is suitable for ground operations or front operations or For side work; the posture of the frame (01) is a standing posture, and the height of the frame (01) is greater than the length in the front and rear directions at this time. Work or climb.
可选的，该机械腿(02)的末端设置有用于撑地的脚掌(106A)。Optionally, the end of the mechanical leg (02) is provided with a sole (106A) for supporting the ground.
该方案的有益效果：脚掌(106A)相对于小腿(104)末端能提高着地面积分摊力。The beneficial effect of the solution: the sole (106A) can improve the ground integral force relative to the end of the lower leg (104).
该机械腿(02)的末端设置有用于沿路面滚动的滚轮。The ends of the mechanical legs (02) are provided with rollers for rolling along the road surface.
该方案的有益效果：在平路时，通过该滚轮沿路面滚动时设备滑行更节能。Beneficial effects of the solution: on a flat road, when the roller rolls along the road surface, the equipment slides more energy-saving.
可选的，该机械腿(02)设置有用于给该作业工具供电的供电部件，该供电部件的一端连接设置于该机架(01)的电源，该供电部件的一端用于连接该作业工具。Optionally, the mechanical leg (02) is provided with a power supply component for supplying power to the working tool, one end of the power supply component is connected to the power supply provided on the frame (01), and one end of the power supply component is used to connect the working tool .
该方案的有益效果：该多功能的机械腿02设置有该供电部件，不仅仅使作业工具得到电源供应(1+1＝2)，更重要减小该机械腿02的末端承重、利于节能(额外好处1)，该方案还优化了可移动的设备整机的力学性能。Beneficial effects of this solution: the multifunctional mechanical leg 02 is provided with the power supply part, not only enables the working tool to be supplied with power (1+1=2), but more importantly reduces the end load of the mechanical leg 02, which is beneficial to energy saving ( Additional benefit 1), this solution also optimizes the mechanical properties of the mobile equipment.
可选的，该设备的顶部(115)通过第五升降机构(1315)连接机架(01)使该顶部(115)相对于该机架(01)能升降和/或该顶部(115)设置有滚轮。Optionally, the top (115) of the device is connected to the frame (01) through the fifth lifting mechanism (1315) so that the top (115) can be lifted relative to the frame (01) and/or the top (115) is set There are scroll wheels.
有益效果：该方案便于管道作业，必要时通过该机械腿02的末端设置滚轮106或第五升降机构(1315)使顶部能抵接管道内壁以防止设备打滑，该该顶部(115)设置有滚轮又能减小在管道内通行时的摩擦力。Beneficial effect: the scheme is convenient for pipeline operation, if necessary, the end of the mechanical leg 02 is provided with a roller 106 or a fifth lifting mechanism (1315) so that the top can abut against the inner wall of the pipeline to prevent the equipment from slipping, and the top (115) is provided with a roller It can also reduce the friction force when passing in the pipeline.
可选的，该可移动的设备构造为能载成年人行驶，和/或该设备还包括载人舱(11)有益效果：人是地球的主宰，该可移动的设备构造为成年人的运载工具、能载人行驶，相较于将该设备设计为非载人工具、玩具更具经济意义。， Optionally, the mobile device is configured to carry an adult, and/or the device also includes a manned cabin (11). A tool that can carry people is more economically meaningful than designing the device as a non-passenger tool or toy. ,
可选的，该可移动的设备为车。Optionally, the movable device is a car.
有益效果：车是人类社会最重要的工具，相较于步行，车以滚动式行走机构行驶效率高，车与腿臂融合的机械腿结合，使设备具有半车半虎能力，提升了综合能力。Beneficial effects: the car is the most important tool in human society. Compared with walking, the car has a high driving efficiency with a rolling walking mechanism. The combination of the car and the mechanical legs integrated with the leg and arm makes the equipment have the ability of half a car and half a tiger, and improves the comprehensive ability .
可选的，该可移动的设备还包括连接于该机架(01)的水中推进装置(09)，该水中推进装置(09)配置为能驱动该可移动的设备在水中行驶；和/或，该可移动的设备在水中所产生的浮力不小于该可移动的设备的重力或该可移动的设备为船。Optionally, the movable device further includes an underwater propulsion device (09) connected to the frame (01), and the underwater propulsion device (09) is configured to drive the movable device to travel in water; and/or , the buoyancy generated by the movable device in the water is not less than the weight of the movable device or the movable device is a boat.
有益效果：含水中推进装置(09)且能产生足够浮力的设备即船，船是人类社会最重要的工具，船与腿臂融合的机械腿结合，使设备具有半船半虎能力，提升了综合能力。Beneficial effects: the equipment that contains the propulsion device (09) in water and can generate sufficient buoyancy is a boat. The boat is the most important tool in human society. The combination of the boat and the mechanical legs that integrate the legs and arms makes the equipment half-boat, half-tiger, and improves the Comprehensive ability.
8.一种如技术方案1或基于技术方案1的任一可选的技术方案所述的可移动的设备的控制方法，该控制方法包括步骤：8. A method for controlling movable equipment as described in technical solution 1 or any optional technical solution based on technical solution 1, the control method comprising steps:
获取作业的种类信息：Get job type information:
若作业的种类为以从人员下方托住人员的方式搬运人员则执行步骤S1，If the type of operation is to carry the personnel by holding the personnel from below, step S1 is performed,
若作业的种类为以抓取连接人员的柔性物体的方式搬运人员则执行步骤S2，If the type of operation is to carry the personnel by grabbing the flexible objects connected to the personnel, step S2 is performed,
若作业的种类为切割物品则执行步骤S3，If the type of operation is cutting objects, step S3 is performed,
若作业的种类为挖掘或铲物则执行步骤S4，If the type of operation is excavation or shoveling, step S4 is performed,
若作业的种类为采摘物品则执行步骤S5，If the type of operation is picking items, step S5 is performed,
若作业的种类为耕种则执行步骤S6，If the type of operation is farming, step S6 is performed,
若作业的种类为涂刷物品则执行步骤S7，If the type of operation is painting objects, step S7 is performed,
若作业的种类为取砖垒墙则执行步骤S8，If the type of operation is to take bricks and build walls, step S8 is performed,
若作业的种类为焊接物品则执行步骤S8，If the type of operation is a welding item, step S8 is performed,
若作业的种类为旋转紧固件以安装或拆卸物品则执行步骤S9，If the type of operation is to rotate the fastener to install or disassemble the article, then perform step S9,
若作业的种类为喷射物体则执行步骤S10，If the type of operation is to spray objects, step S10 is performed,
若作业的种类为通过该腿臂融合的机械腿沿外部物体攀爬则执行步骤S11，If the type of operation is to climb along the external object through the mechanical leg fused with the leg arm, then perform step S11,
若作业的种类为步行则执行步骤S12；If the type of operation is walking, step S12 is performed;
若作业的种类为通过腿协助履带式行走机构(07)行驶则执行步骤S13；If the type of operation is to assist the crawler-type traveling mechanism (07) to travel by the legs, step S13 is performed;
S1：先将该腿臂融合的机械腿的活动部件放置于待搬运人员的下方托住人员再使该人员升降和/或平移，该活动部件指该腿臂融合的机械腿的大腿(102)和/或小腿(104)和/或该小腿(104)的末端的关节和/或该腿臂融合的机械腿的末端所连接的工具；S1: First place the movable part of the mechanical leg with the leg-arm fusion under the person to be carried to support the person, and then make the person lift and/or translate. The movable part refers to the thigh of the mechanical leg with the leg-arm fusion (102) and/or the lower leg (104) and/or the joint at the end of the lower leg (104) and/or the tool to which the end of the leg-arm fusion robotic leg is attached;
S2：控制该腿臂融合的机械腿带动该机械腿的末端所连接的末端执行器以抓取连接人员的柔性物体的方式搬运人员，该末端执行器为抓取装置(06)；S2: The mechanical leg that controls the fusion of the leg and arm drives the end effector connected to the end of the mechanical leg to carry the person by grabbing the flexible object connected to the person. The end effector is a grabbing device (06);
S3：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具切割物品，该作业工具为刀或锯或切割机；S3: The mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to cut objects, and the working tool is a knife or a saw or a cutting machine;
S4：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具挖掘或铲物，该作业工具为铲；S4: The mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to excavate or shovel, and the working tool is a shovel;
S5：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具采摘物品，该采摘物品为摘菜或采摘水果或采摘棉花或拔植株或拔草，该植株为菜类植株、树类植株、秧苗、中药类植株中任一种或任意多种，该作业工具为采摘器；S5: The mechanical leg that controls the fusion of the leg and arm drives the operation tool connected to the end of the mechanical leg to pick items. The picked items are vegetable picking or fruit picking or cotton picking or pulling plants or weeds. The plants are vegetable plants, Any one or more of tree plants, seedlings, and traditional Chinese medicine plants, and the operating tool is a picker;
S6：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具耕种，该耕种指锄地或插苗，该锄地用的作业工具为锄，该插苗用的作业工具为插苗器；S6: The mechanical leg that controls the fusion of the leg and arm drives the operation tool connected to the end of the mechanical leg to cultivate. The cultivation refers to hoeing or planting. The working tool for hoeing is a hoe, and the working tool for planting is seedling inserter;
S7：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具，将该作业工具携带的作业物料涂刷至作业对象，该作业工具为涂刷工具，该作业物料为漆或颜料或粉或浆，该作业对象指待涂刷的墙或地面或设备表面；S7: The mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg, and paints the working material carried by the working tool to the working object. The working tool is a brushing tool, and the working material is paint or Pigment or powder or paste, the operation object refers to the wall or floor or equipment surface to be painted;
S8：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具取砖垒墙，该作业工具为抓取部件；S8: The mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to pick up bricks and build walls, and the working tool is a grabbing component;
S9：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具焊接物品，该作业工具为焊接工具；S9: The mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to weld objects, and the working tool is a welding tool;
S9：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具旋转紧固件以安装或拆卸物品，该作业工具为抓取部件或该作业工具为用于套接该紧固件的扳手或螺丝刀；S9: The mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to rotate the fastener to install or remove the object, the working tool is a grabbing part or the working tool is used to socket the fastening wrench or screwdriver;
S10：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具喷射物体，该物体为药或漆或粉或浆或灭火物质，该作业工具为喷射器； S10: The mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to spray an object, the object is medicine or paint or powder or slurry or a fire extinguishing substance, and the working tool is a sprayer;
S11：控制该腿臂融合的机械腿带动该腿臂融合的机械腿末端连接的作业工具抓住高于该机架(01)的外部物体使该设备沿该外部物体攀爬。S11: The mechanical leg controlling the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg of the fusion of the leg and arm to grab an external object higher than the frame (01) to make the device climb along the external object.
S12：控制该腿臂融合的机械腿使该可移动的设备沿路面步行；S12: controlling the mechanical leg of the leg-arm fusion to make the movable device walk along the road;
S13：在该可移动的设备通过该履带式行走机构(07)行驶将从平路进入下倾路段时，控制位于该机架(01)的第二端的机械腿(02)使该机械腿(02)在该平路抵地,以使该履带式行走机构(07)的后部抬高；和/或，S13: When the movable equipment travels through the crawler-type traveling mechanism (07) and enters a downhill road section from a flat road, control the mechanical leg (02) located at the second end of the frame (01) to make the mechanical leg ( 02) landing on the level road to raise the rear of the tracked running gear (07); and/or,
在该可移动的设备通过该履带式行走机构(07)行驶从上倾路段进入平路且该履带式行走机构中履带07还处于后倾状态时，控制位于该机架(01)的第二端的机械腿(02)使该机械腿(02)在该上倾路段抵地,以减小该履带式行走机构(07)的倾斜角度。When the mobile equipment travels from the uphill road section to the flat road through the crawler-type traveling mechanism (07) and the crawler belt 07 in the crawler-type traveling mechanism is still in a backward tilting state, the second The mechanical leg (02) at the end makes the mechanical leg (02) touch the ground on the uphill section, so as to reduce the inclination angle of the crawler-type traveling mechanism (07).
具体的，该S12步骤包括：控制该腿臂融合的机械腿所包括的第一旋转关节(1011)使大腿(102)处于下垂的姿态和使大腿(102)相对于该机械腿的基座左右摇摆，控制该第一摆动关节(1012)使大腿(102)相对于该机械腿的基座前后摆动，控制该第二摆动关节使该小腿(104)相对于该大腿(102)前后摆动。该三个维度的摇摆动作，使多条机械腿能产生(标准的、完美的两腿或四腿或更多腿的)多腿交替步行动作。Specifically, the step S12 includes: controlling the first rotating joint (1011) included in the mechanical leg of the leg-arm fusion so that the thigh (102) is in a drooping posture and making the thigh (102) left and right relative to the base of the mechanical leg For swinging, the first swing joint (1012) is controlled to make the thigh (102) swing back and forth relative to the base of the mechanical leg, and the second swing joint is controlled to make the lower leg (104) swing back and forth relative to the thigh (102). The three-dimensional swing motion enables the multiple mechanical legs to produce (standard, perfect two-leg or four-leg or more) multi-leg alternating walking motion.
该方案的有益效果：S1-S10方案提升了(多关节、粗壮有力、高成本的)腿作业能力降低资源浪费。S11方案使腿臂融合的机械腿能用于使设备沿该外部物体攀爬。S13方案的有益效果：履带机构在爬楼梯、过松软地段(沙滩、淤泥)相较于轮或腿机构有突出的优势；但在从平路进入下倾路段或从上倾路段进入平路时，存在前端悬空、砸地的严重安全问题；行业的惯性思维，通常为努力保持机架直立、减小倾角以防摔倒；该S13方案，控制第二端(即后部)的腿或可升降的行走机构在后方撑地，使设备的臀部上翘，实验证明对能减小设备的第一端(即前部)因悬空而砸地的不良冲击。Beneficial effects of the scheme: the S1-S10 scheme improves the working ability of the (multi-joint, strong and powerful, high-cost) legs and reduces the waste of resources. Proposal S11 enables leg-arm fused robotic legs to be used to allow the device to climb along the external object. Beneficial effects of the S13 scheme: the crawler mechanism has outstanding advantages compared with the wheel or leg mechanism when climbing stairs and crossing soft areas (beach, mud); but when entering a downhill section from a flat road or entering a flat road from an uphill section , there are serious safety problems of the front end hanging in the air and hitting the ground; the inertial thinking of the industry usually strives to keep the rack upright and reduce the inclination angle to prevent falling; the S13 scheme controls the legs at the second end (ie the rear) The lifting walking mechanism supports the ground at the rear, so that the buttocks of the equipment are turned up, and the experiment proves that it can reduce the adverse impact of the first end (ie, the front) of the equipment being suspended and hitting the ground.
步骤S3与S4组合、叠加具有更好效果。先切割物品再挖掘或铲物。The combination and superposition of steps S3 and S4 have a better effect. Cut items before digging or shoveling.
可选的，该刀和铲连接于同一腿臂融合的机械腿的末端。或该刀和该铲连接于不同的腿臂融合的机械腿的末端，该作业为多条多功能的机械腿02配合作业。Optionally, the knife and shovel are attached to the end of a fused robotic leg of the same leg arm. Or the knife and the shovel are connected to the ends of different mechanical legs fused together, and this operation is the cooperation of multiple multifunctional mechanical legs 02.
使用切割工具先切割物品，再挖掘或铲物，相较于(现有挖掘机技术中)用蛮力直接冲击、破碎物体，能大幅度的降低冲击力、载荷、使多功能的机械腿02的构造能精巧化、非笨重化、降低重量、降低多功能的机械腿运动时的能量消耗、避免多功能的机械腿02多功能的机械腿受损、延长使用寿命。刀为水刀或激光刀。切割机为电动砂轮切割机。Use cutting tools to cut objects first, and then dig or shovel objects. Compared with (in the existing excavator technology) directly impacting and breaking objects with brute force, it can greatly reduce the impact force and load, and make the multifunctional mechanical legs 02 The structure can be refined, non-bulky, reduce weight, reduce energy consumption when the multifunctional mechanical legs are in motion, avoid damage to the multifunctional mechanical legs 02 multifunctional mechanical legs, and prolong the service life. The knife is a water knife or a laser knife. The cutting machine is an electric grinding wheel cutting machine.
可选的，步骤S7与S8结合，指定的作业为先涂砂浆后取砖垒墙。该方案能提高综合作业效果。Optionally, steps S7 and S8 are combined, and the specified operation is to apply mortar first and then take bricks to build walls. This scheme can improve the comprehensive operation effect.
进一步的，上述控制方法1，在进行指定的作业之前包括步骤Z1或步骤Z10或步骤Z20：Further, the above-mentioned control method 1 includes step Z1 or step Z10 or step Z20 before performing the specified operation:
Z1：获取作业对象的位姿信息或获取目标空间的方位信息；Z1: Obtain the pose information of the work object or obtain the orientation information of the target space;
Z10：控制腿臂融合的机械腿带动该机械腿的末端所连接的作业工具，使该作业工具由该作业工具的当前位姿运动至作业位姿；Z10: The mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg, so that the working tool moves from the current position of the working tool to the working position;
Z20：控制腿臂融合的机械腿运动和/或控制该腿臂融合的机械腿的末端所连接作业工具动作，以装载或抓取作业物料。Z20: Control the movement of the mechanical leg of the leg-arm fusion and/or control the action of the working tool connected to the end of the mechanical leg of the leg-arm fusion, so as to load or grab the working material.
该方案的有益效果：进一步提升了(多关节、粗壮有力、高成本的)腿作业能力。Beneficial effects of the scheme: the working ability of the (multi-joint, strong and powerful, high-cost) legs is further improved.
9.一种如技术方案1或基于至技术方案1的任一项可选的技术方案的可移动的设备的控制方法2包括步骤：控制第一侧的机械腿(02)和控制第二侧的机械腿(02)，使该机架(01)的姿态在第一卧姿与立姿中切换；该立姿为第一立姿或第二立姿。9. A control method 2 of a movable device as in technical solution 1 or any optional technical solution based on technical solution 1, comprising the steps of: controlling the mechanical leg (02) on the first side and controlling the second side The mechanical legs (02) make the posture of the frame (01) switch between the first prone position and the standing position; the standing position is the first standing position or the second standing position.
该方案的有益效果：由机械腿进行姿态切换，节省了专用的姿态调整机构成本。The beneficial effect of the solution is that the posture switching is performed by the mechanical legs, which saves the cost of a dedicated posture adjustment mechanism.
10.一种如技术方案3所述的可移动的设备的控制方法3包括步骤：10. A control method 3 for a movable device as described in the technical solution 3 includes steps:
在该可移动的设备通过该履带式行走机构(07)行驶将从平路进入下倾路段时，控制该第二升降机构(222)使该第二行走机构(522)在该平路抵地,以使该履带式行走机构(07)的后部抬高；和/或，When the movable equipment travels through the crawler-type traveling mechanism (07) and enters a downhill section from a flat road, control the second lifting mechanism (222) so that the second traveling mechanism (522) reaches the ground on the flat road , so that the rear portion of the crawler running gear (07) is raised; and/or,
在该可移动的设备通过该履带式行走机构(07)行驶从上倾路段进入平路且该履带式行走机构中履带07还处于后倾状态时，控制该第二升降机构(222)使该第二行走机构(522)在该上倾路段抵地,以减小该履带式行走机构(07)的倾斜角度；和/或，When the movable equipment travels from an uphill road section to a flat road through the crawler-type traveling mechanism (07) and the crawler belt 07 in the crawler-type traveling mechanism is still in a backward tilting state, the second lifting mechanism (222) is controlled to make the The second traveling mechanism (522) touches the ground on the uphill road section, so as to reduce the inclination angle of the crawler-type traveling mechanism (07); and/or,
控制该第一升降机构(211)和控制该第二升降机构(222)，和/或控制该第三升降机构，用于：在该腿臂融合的机械腿离地进行指定的作业时调整该机架(01)相对于路面的高度或调整该机架(01)的姿态；或使使该设备在第一模式和第二模式之间切换； Controlling the first elevating mechanism (211) and controlling the second elevating mechanism (222), and/or controlling the third elevating mechanism, is used for: when the mechanical leg of the leg-arm fusion is lifted off the ground to perform a designated operation. the height of the rack (01) relative to the road surface or adjust the attitude of the rack (01); or make the device switch between the first mode and the second mode;
该第一模式为：该第一行走机构(511)的下表面和/或该第二行走机构(522)的下表面不低于该第三行走机构的下表面，由该第三行走机构支撑该机架(01)离地和使该可移动的设备沿路面行驶，或由该第一行走机构(511)与该第二行走机构(522)中一种及该第三行走机构支撑该机架(01)离地和使该可移动的设备沿路面行驶；The first mode is: the lower surface of the first traveling mechanism (511) and/or the lower surface of the second traveling mechanism (522) is not lower than the lower surface of the third traveling mechanism, supported by the third traveling mechanism The frame (01) is off the ground and the movable equipment is driven along the road, or the machine is supported by one of the first traveling mechanism (511) and the second traveling mechanism (522) and the third traveling mechanism lift the frame (01) off the ground and drive the movable device along the road;
该第二模式为：该第一行走机构(511)的下表面和该第二行走机构(522)的下表面都低于该第三行走机构的下表面，由该第一行走机构(511)和该第二行走机构(522)支撑该机架(01)离地和使该可移动的设备沿路面行驶。The second mode is: the lower surface of the first running gear (511) and the lower surface of the second running gear (522) are lower than the lower surface of the third running gear, and the first running gear (511) And the second walking mechanism (522) supports the frame (01) off the ground and enables the movable equipment to travel along the road.
该方案的前两个与履带式行走机构行驶相关的方案的有益效果同S13的效果。The beneficial effects of the first two proposals related to the running of the crawler-type traveling mechanism of this proposal are the same as those of S13.
控制升降机构调整该机架(01)相对于路面的高度或调整该机架(01)的姿态的方案，有益于提高作业性能。The scheme of controlling the lifting mechanism to adjust the height of the frame (01) relative to the road surface or to adjust the attitude of the frame (01) is beneficial to improve the working performance.
控制升降机构使该设备在第一模式和第二模式之间切换的姿态的方案，第一模式用于使下表面不低于第三行走机构的下表面的第一行走机构(511)和第二行走机构(522)离地越障。第二模式用于使第三行走机构离地越障。该方案提升了设备越障能力。Controlling the lifting mechanism to make the equipment switch between the first mode and the second mode, the first mode is used for the first running mechanism (511) and the second running mechanism whose lower surface is not lower than the lower surface of the third running mechanism Two running gears (522) leave the ground and overcome obstacles. The second mode is used to enable the third traveling mechanism to overcome obstacles from the ground. This scheme improves the obstacle-surmounting ability of the equipment.
11.一种如技术方案4所述的可移动的设备的控制方法4包括步骤S4.1、S4.2、S4.3和S4.3中任一种或任意多种；11. A method 4 for controlling movable equipment according to technical solution 4, including any one or more of steps S4.1, S4.2, S4.3 and S4.3;
S4.1：控制某腿根运动机构使该第一侧的机械腿(02)的基座和该第二侧的机械腿(02)的基座位于该机架(01)的某一端；控制该第一侧的机械腿(02)使该第一侧的机械腿(02)撑地和/或控制该第二侧的机械腿(02)使该第二侧的机械腿(02)撑地，或控制该第一侧的机械腿(02)和该第二侧的机械腿(02)步行，以使该设备沿路面行驶和/或使该机架(01)的某一端及位于该某一端的滚动式行走机构离地以越障；该某一端为第一端及该另一端为第二端，或该某一端为第二端及该另一端为第一端；该某腿根运动机构为该连接支架的第一线性运动机构(184)，或该某腿根运动机构为该第一侧的第一线性运动机构(184L)及该第二侧的第一线性运动机构(184R)，或该某腿根运动机构为该第一侧的第一腿根摆动机构(19L)及该第二侧的第一腿根摆动机构(19R)；和/或，S4.1: Control a leg root motion mechanism so that the base of the mechanical leg (02) on the first side and the base of the mechanical leg (02) on the second side are located at a certain end of the frame (01); control The mechanical leg (02) on the first side makes the mechanical leg (02) on the first side support the ground and/or controls the mechanical leg (02) on the second side to make the mechanical leg (02) on the second side support the ground , or control the mechanical leg (02) on the first side and the mechanical leg (02) on the second side to walk, so that the device can travel along the road and/or make a certain end of the frame (01) and a certain The rolling walking mechanism at one end is lifted off the ground to overcome obstacles; the one end is the first end and the other end is the second end, or the certain end is the second end and the other end is the first end; the leg movement The mechanism is the first linear motion mechanism (184) of the connecting bracket, or the certain leg root motion mechanism is the first linear motion mechanism (184L) on the first side and the first linear motion mechanism (184R) on the second side , or the certain leg movement mechanism is the first leg swing mechanism (19L) on the first side and the first leg swing mechanism (19R) on the second side; and/or,
S4.2：控制该连接支架的第一线性运动机构(184)或控制该第一侧的第一线性运动机构(184L)及该第二侧的第一线性运动机构(184R)，使该第一侧的机械腿(02)的基座和该第二侧的机械腿(02)的基座位于该机架(01)的中部，或控制该第一侧的第一腿根摆动机构(19L)及该第二侧的第一腿根摆动机构(19R)，使该第一侧的机械腿(02)的基座和该第二侧的机械腿(02)的基座位于该机架(01)的中下部；控制该第一侧的机械腿(02)和该第二侧的机械腿(02)步行；和/或，S4.2: Control the first linear motion mechanism (184) of the connecting bracket or control the first linear motion mechanism (184L) on the first side and the first linear motion mechanism (184R) on the second side, so that the second The base of the mechanical leg (02) on one side and the base of the mechanical leg (02) on the second side are located in the middle of the frame (01), or control the first leg root swing mechanism (19L) on the first side ) and the first leg root swing mechanism (19R) on the second side, so that the base of the mechanical leg (02) on the first side and the base of the mechanical leg (02) on the second side are located on the frame ( 01); control the first side of the mechanical leg (02) and the second side of the mechanical leg (02) to walk; and/or,
S4.3：控制某一侧的第一腿根摆动机构使该某一侧的机械腿(02)的基座位于该机架(01)的中上部，控制该机械腿(02)进行指定的作业或攀爬，该攀爬指通过该机械腿的末端所连接的末端执行器抓住高于该机架(01)的外部物体使该设备沿该外部物体爬行，该末端执行器为抓取装置(06)或用于攀爬的作业工具，该某一侧为第一侧或第二侧；和/或，S4.3: Control the first leg root swing mechanism on a certain side so that the base of the mechanical leg (02) on the certain side is located at the middle and upper part of the rack (01), and control the mechanical leg (02) to perform specified Operation or climbing, the climbing refers to grabbing an external object higher than the frame (01) through the end effector connected to the end of the mechanical leg to make the device crawl along the external object, the end effector is grabbing device (06) or working tool for climbing, the one side being the first side or the second side; and/or,
S4.4：控制某腿根运动机构使该腿根运动机构的输出件所连接的机械腿的基座位于该机架(01)的第一端、该机架(01)的中部与该机架(01)的第二端中任一位置，控制该机械腿进行指定的作业，该某腿根运动机构为该连接支架的第一线性运动机构(184)、该第一侧的第一线性运动机构(184L)、该第二侧的第一线性运动机构(184R)、该第一侧的第一腿根摆动机构(19L)和该第二侧的第一腿根摆动机构(19R)中任一种。S4.4: Control a leg-root kinematic mechanism so that the base of the mechanical leg connected to the output part of the leg-root kinematic mechanism is located at the first end of the frame (01), the middle part of the frame (01) and the machine Any position at the second end of the frame (01), controls the mechanical leg to perform the specified operation, and the leg root motion mechanism is the first linear motion mechanism (184) of the connecting bracket, the first linear motion mechanism (184) of the first side In the motion mechanism (184L), the first linear motion mechanism (184R) on the second side, the first leg swing mechanism (19L) on the first side, and the first leg swing mechanism (19R) on the second side any kind.
通过设置滚动式行走机构解决了行走机构全部为腿的设备在平路上相较于滚动式行走机构的速度和效率低的问题。By setting the rolling walking mechanism, the problem of lower speed and efficiency of the equipment with all legs on the flat road compared with the rolling walking mechanism is solved.
步骤S4.1，通过腿根运动机构使(多关节、粗壮、高成本)的机械腿能前后移动；Step S4.1, make the (multi-joint, thick, high-cost) mechanical leg move forward and backward through the leg root motion mechanism;
当该机械腿能到达第一端(即前端)时，该设备构成了机器人拉车模式(前端为腿撑地、后端通过滚动式行走机构撑地)，该机器人拉车模式既能使设备沿路面行驶，且更巧妙是能使第一端(即前端)的滚动式行走机构离地以越障；When the mechanical legs can reach the first end (that is, the front end), the device constitutes a robot cart mode (the front end supports the ground with legs, and the rear end supports the ground through a rolling walking mechanism). This robot cart mode can make the device Drive along the road surface, and more cleverly, the rolling walking mechanism at the first end (that is, the front end) can be lifted off the ground to overcome obstacles;
当该机械腿能到达第二端(即后端)时，该设备构成了机器人推车模式(前端通过滚动式行走机构撑地，后段为腿撑地)，该机器人推车模式既能使设备沿路面行驶，且更巧妙是能使第二端(即后端)的滚动式行走机构离地以越障。When the mechanical legs can reach the second end (i.e., the rear end), the device constitutes a robot cart mode (the front end is supported by a rolling walking mechanism, and the rear section is supported by legs). The equipment travels along the road surface, and more ingeniously, the rolling traveling mechanism at the second end (ie, the rear end) can be lifted off the ground to overcome obstacles.
另外的益处二为：当某一位置的机械腿02失能时，可通过腿根运动机构另一端调来机械腿以替代该失能机械腿02工作，增加了设备的故障适应能力。The second benefit is: when the mechanical leg 02 at a certain position is disabled, the mechanical leg can be transferred through the other end of the leg root motion mechanism to replace the disabled mechanical leg 02, which increases the fault adaptability of the equipment.
步骤S4.2，通过腿根运动机构使(多关节、粗壮有力、高成本)的机械腿能前后移动到达该机架(01)的中部，因机架的重心在中部，此时利于机械腿(02)步行。 Step S4.2, through the leg root motion mechanism, the (multi-joint, strong and powerful, high cost) mechanical leg can move back and forth to reach the middle of the frame (01), because the center of gravity of the frame is in the middle, which is beneficial to the mechanical leg (02) Walk.
步骤S4.3，通过第一腿根摆动机构能使机械腿(02)的基座到达该机架01的中上部，利于攀爬。In step S4.3, the base of the mechanical leg (02) can reach the middle and upper part of the frame 01 through the swinging mechanism of the first leg root, which is beneficial for climbing.
步骤S4.4，通过腿根运动机构使(多关节、粗壮有力、高成本)的机械腿能前后移动到达机架(01)的第一端(即前端)、该机架(01)的中部与该机架(01)的第二端(即后段)中任一位置，按需的进行指定的作业，非常有利于提高作业效率。例如，当作业区域位于第一端(即前端)时，可调用第二端(即后段)(多关节、粗壮有力、高成本)的机械腿来作业；如果当时第一端(即前端)原有两条腿，此时做变为4条(多关节、粗壮有力、高成本)的机械腿作业。当作业区域位于第二端(即后端)时，可调用第一端(即前端)(多关节、粗壮有力、高成本)的机械腿来作业；如果当时第二端(即后端)原有两条腿，此时做变为4条(多关节、粗壮有力、高成本)的机械腿作业。Step S4.4, through the leg root motion mechanism, the (multi-joint, strong and powerful, high-cost) mechanical legs can move back and forth to reach the first end (ie front end) of the rack (01) and the middle of the rack (01) With any position in the second end (ie, the rear section) of the frame (01), the specified operation can be performed as required, which is very beneficial to improve the operation efficiency. For example, when the working area is located at the first end (i.e. the front end), the mechanical legs of the second end (i.e. the back section) (multi-joint, strong and powerful, high cost) can be called to work; if at that time the first end (i.e. the front end) The original two legs are changed to four (multi-joint, strong and powerful, high-cost) mechanical legs at this time. When the working area is located at the second end (i.e. the rear end), the mechanical legs of the first end (i.e. the front end) (multi-joint, strong and powerful, high cost) can be called to work; if the second end (i.e. the rear end) originally There are two legs, and at this time, do the mechanical leg work that becomes 4 (multi-joint, strong and powerful, high cost).
通过腿根运动机构实现机械腿的前后运动，使2条腿的成本能到到4条腿的效果，其不仅仅是节约了2条腿的直接成本，更重要的是节约了2条腿的所带来的能耗、重量。The forward and backward movement of the mechanical legs is realized through the leg root movement mechanism, so that the cost of 2 legs can reach the effect of 4 legs, which not only saves the direct cost of 2 legs, but more importantly, saves the cost of 2 legs The resulting energy consumption and weight.
12.一种如技术方案5所述的可移动的设备的控制方法5，包括步骤S5.1、S5.2、S5.3中任一种或任意多种：12. A method 5 for controlling movable equipment according to technical solution 5, comprising any one or more of steps S5.1, S5.2, and S5.3:
S5.1：控制该任一方位的该第二线性运动机构带动该任一方位的机械腿的基座运动到该第一区域，控制该机械腿进行指定的作业或攀爬，该攀爬指通过该机械腿的末端所连接的末端执行器抓住高于该机架(01)的外部物体使该设备沿该外部物体爬行，该末端执行器为抓取装置(06)或用于攀爬的作业工具；和/或，S5.1: Control the second linear motion mechanism in any orientation to drive the base of the mechanical leg in any orientation to move to the first area, and control the mechanical leg to perform specified operations or climbing. The end effector connected to the end of the mechanical leg grabs an external object higher than the frame (01) to make the device crawl along the external object, and the end effector is a grabbing device (06) or used for climbing work tools; and/or,
S5.2：控制该任一方位的该第二线性运动机构带动该任一方位的机械腿的基座运动到该第二区域(下部)，控制该机械腿进行指定的作业；和/或，S5.2: Control the second linear motion mechanism in any orientation to drive the base of the mechanical leg in any orientation to move to the second area (lower part), and control the mechanical leg to perform specified operations; and/or,
S5.3：控制同一部位(左前)的第一侧的该第二线性运动机构和第二侧的该第二线性运动机构，使该同一部位(左前)的该第一侧的机械腿的基座和该第二侧的机械腿的基座运动到第二区域(下部)，控制该第一侧的机械腿和该第二侧的机械腿步行，该同一部位为该第一端和/或该第二端。S5.3: Control the second linear motion mechanism on the first side of the same part (left front) and the second linear motion mechanism on the second side, so that the base of the mechanical leg on the first side of the same part (left front) The seat and the base of the mechanical legs on the second side move to the second area (lower part), control the mechanical legs on the first side and the mechanical legs on the second side to walk, the same position is the first end and/or the second end.
步骤S5.1使机械腿的大腿102的根部能上行(到头顶)，逆转了行业思维偏见(腿需牢牢的固定于臀部)，大幅的提高了多功能的机械腿02作业、攀爬性能)。Step S5.1 enables the root of the thigh 102 of the mechanical leg to go up (to the top of the head), which reverses the industry's thinking bias (legs need to be firmly fixed on the buttocks), and greatly improves the operation and climbing performance of the multifunctional mechanical leg 02 ).
13、一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述任一项所述的控制方法。13. A computer-readable storage medium, wherein computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by a processor, the control method described in any one of the above is implemented.
一种可移动的设备的控制装置，其特征在于，所述控制装置包括处理器以及存储有计算机程序指令的存储器；所述处理器执行所述计算机程序指令时实现上述任一项所述的控制方法。A control device for movable equipment, characterized in that the control device includes a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the control described in any one of the above is realized method.
一种移动平台，该移动平台为如技术方案1或基于技术方案1的任一可选的技术方案的可移动的设备，或该移动平台包含用于使该移动平台沿路面行驶的行走机构，其特征在于，该移动平台包括上述控制装置。处理器以及存储有计算机程序指令的存储器；所述处理器执行所述计算机程序指令时实现如权利要求1-6任意一项所述。A mobile platform, the mobile platform is a mobile device such as technical solution 1 or any optional technical solution based on technical solution 1, or the mobile platform includes a walking mechanism for driving the mobile platform along the road surface, It is characterized in that the mobile platform includes the above-mentioned control device. A processor and a memory storing computer program instructions; when the processor executes the computer program instructions, any one of claims 1-6 is realized.
本申请的移动设备的有益效果在于：The beneficial effects of the mobile device of the present application are:
本发明的分支方案1：腿臂融合的机械腿，其末端设有作业工具17或设有用于连接作业工具17的连接部，该机械腿和该作业工具17均配置为用于指定的作业，利于解决了现有技术中人型机器人、四足机器狗中(多关节、粗壮有力、高成本的)腿作业能力不足问题、资源浪问题费。Branch scheme 1 of the present invention: a mechanical leg with legs and arms fused, the end of which is provided with a working tool 17 or a connecting part for connecting the working tool 17, the mechanical leg and the working tool 17 are both configured for specified operations, It is beneficial to solve the problem of insufficient leg work ability and waste of resources in humanoid robots and quadruped robot dogs in the prior art (multi-joint, strong and powerful, and high cost).
本发明的分支方案2：该设备包括使该机械腿02的基座相对于该机架01能实现升降运动和/或前后运动的腿根运动机构，使大腿102的根部能上行(到头顶)或前后移动，逆转了行业思维偏见(腿需要牢牢固定与臀部)。Branch solution 2 of the present invention: the device includes a leg root movement mechanism that enables the base of the mechanical leg 02 to move up and down relative to the frame 01 and/or move back and forth, so that the root of the thigh 102 can go up (to the top of the head) Or move back and forth, reversing industry thinking biases (legs need to be firmly secured with hips).
请参阅附图6、7、8、9、16、17、18；腿根运动机构带动机械腿运动使设备能形成(“机械腿在前步行+轮履机构在后滚动”的机器人拉车行驶模式、“轮履机构在前滚动+机械腿在后步行”机器人推车行驶模式、双腿在中部机架的两端向外凸出的“挑夫式”步行模式以增加负重稳定性、机械腿的根部(而非脚尖)上升到机架顶部(也即头部)的“腿上头”作业模式、且能巧妙的协助行驶效率高、节能、承载力大但越障能力差的滚动式行走机构离地、越障)多种独特工作模式，突破了思维惯性、具有多种意想不到的效果。Please refer to accompanying drawings 6, 7, 8, 9, 16, 17, and 18; the leg root motion mechanism drives the mechanical leg movement so that the equipment can form ("mechanical legs walking in front + wheel shoe mechanism rolling in the back") robot pulling carts mode, "wheel-shoe mechanism rolling in front + mechanical legs walking in the back" robot cart driving mode, "porter-style" walking mode in which the legs protrude outward at both ends of the middle frame to increase load stability, mechanical legs The root (not the toe) of the machine rises to the top of the frame (that is, the head) in the "leg-on-head" operation mode, and can ingeniously assist the rolling walking mechanism with high efficiency, energy saving, large bearing capacity but poor obstacle-surmounting ability Lifting off the ground, overcoming obstacles) a variety of unique working modes break through the inertia of thinking and have a variety of unexpected effects.
通过腿根运动机构实现机械腿的前后运动，有益于在不增加机械腿数量的前提下增强机械腿的作业能力，其不仅仅是节约机械腿直接的购置成本，更重要为有益于节约、控制更多机械腿所带来的能耗、重量问题；自然界也已证明，腿越多动物自身耗能越大反而制约了自身性能，例如，多腿的爬行动物(蜘蛛蜈蚣螃蟹)的承载能力显著低于四足动物(例如狮子老虎豹子大象)，四腿的动物的智商普遍低于双腿动物(例如大猩猩、猴、猿猴)。Realizing the forward and backward movement of the mechanical legs through the leg root motion mechanism is beneficial to enhance the working ability of the mechanical legs without increasing the number of mechanical legs. It not only saves the direct purchase cost of mechanical legs, but more importantly, it is beneficial to saving and controlling Energy consumption and weight problems caused by more mechanical legs; nature has also proved that the more legs the animal itself consumes, the more energy it consumes, which restricts its own performance. For example, the load capacity of multi-legged reptiles (spider centipede crabs) is significantly Lower than four-legged animals (such as lions, tigers, leopards, and elephants), the IQ of four-legged animals is generally lower than that of two-legged animals (such as gorillas, monkeys, and apes).
本发明的分支方案3：滚动行走机构与腿分别独立连接于机架01，各司其职、功能规划合理清 晰，；当机械腿离地作业时，滚动式行走机构能(稳定可靠)支撑该机架01和使设备行驶；解决了现有技术中人型机器人、四足机器狗腿离地作业时容易倒、肚子着地问题。Branching scheme 3 of the present invention: the rolling traveling mechanism and the legs are independently connected to the frame 01, each performing its duties, and the function planning is reasonable and clear clear; when the mechanical legs are off the ground, the rolling walking mechanism can (stable and reliable) support the frame 01 and make the equipment travel; it solves the problem of humanoid robots and quadruped robots in the prior art when the dog legs are off the ground. Inverted, belly landing problem.
即使相较于六腿或八腿机器人方案，滚动式行走机构相较于多关节的腿成本低廉，便于降低机器人的造价和使用成本，且滚动式行走机构的载重、行驶速度或效率能、支撑稳定性相较于腿更高、有益于机械腿作业的稳定性、作业的质量。Even compared to the six-legged or eight-legged robot scheme, the rolling walking mechanism is cheaper than the multi-joint legs, which is convenient to reduce the cost of the robot and the cost of use, and the load, driving speed or efficiency of the rolling walking mechanism can support Compared with the legs, the stability is higher, which is beneficial to the stability and quality of the operation of the mechanical legs.
(多关节、粗壮有力、高成本)的机械腿虽然越障能力突出，但成本高昂。例如，末端承载50KG的绕关节旋转的机械腿、机械臂价格需要上万人民币，而轮式行走机构、履带式行走机构或腿根运动机构的价格可做到数百人民币，具有大幅成本优势且机构坚固、刚性好。Although the mechanical legs (multi-joint, strong and powerful, high cost) have outstanding ability to overcome obstacles, they are expensive. For example, the price of a mechanical leg and a mechanical arm that rotates around a joint with a load of 50KG at the end costs tens of thousands of RMB, while the price of a wheel-type walking mechanism, a crawler-type walking mechanism or a leg-root motion mechanism can reach hundreds of RMB, which has a significant cost advantage and The mechanism is strong and rigid.
综合而言：在(火灾、水灾、地震、反恐防暴、战场救援)应急救援、建筑业、农业、林业、中药种植业、矿产挖掘业等本发明所限定的领域，该场景不像办公室内、商场地面平坦，其地形复杂、崎岖险峻；通常需要配备(多关节、粗壮有力)机械腿越障。现有技术中基于多年行业惯性思维，(粗壮有力、高成本)机械腿主要用于步行，作业需要另置机械臂，从而推高购置、使用成本。In general: In the fields defined by the present invention such as (fire, flood, earthquake, anti-terrorism and anti-riot, battlefield rescue), construction industry, agriculture, forestry, traditional Chinese medicine planting industry, mineral mining industry, etc., this scene is not like in the office, The ground of the shopping mall is flat, and its terrain is complex, rugged and steep; it usually needs to be equipped with (multi-joint, strong and powerful) mechanical legs to overcome obstacles. In the existing technology, based on years of industry inertial thinking, (thick and powerful, high-cost) mechanical legs are mainly used for walking, and an additional mechanical arm is required for operations, thereby pushing up the purchase and use costs.
第一点：本发明，客服了本领域的主流的行业偏见一：不采用常规的机械臂进行作业，而使用腿臂融合的机械腿进行指定作业；节省了的昂贵的机械臂所带来的高成本、高重量、高能耗、控制复杂性；且机械臂通常安装在身体上部不方便进行低位作业；用腿臂融合的机械腿进行指定的作业节省了用于弯腰的关节成本、弯腰控制***、技术复杂度。The first point: the present invention overcomes the mainstream industry prejudice in this field. One: do not use conventional mechanical arms to perform operations, but use mechanical legs fused with legs and arms to perform specified operations; save the cost of expensive mechanical arms High cost, high weight, high energy consumption, and control complexity; and the mechanical arm is usually installed on the upper part of the body, which is inconvenient for low-level operations; using the mechanical legs fused with the legs and arms to perform specified operations saves joint costs for bending, bending Control system, technical complexity.
第二点：更为重要的是：本发明，在克服上述机械腿主要用于步行的行业偏见基础上，并非控制腿进行踢踢物品挪挪位置简单操作，而是用腿操作工具进行指定工序的作业。巧妙使用工具，是动物与人主要区别，也是普通机器与先进机器人技术的核心区别。这也是本发明的核心价值所在。The second point: more importantly: the present invention, on the basis of overcoming the industrial prejudice that the above-mentioned mechanical legs are mainly used for walking, does not control the legs to perform simple operations of kicking and moving objects, but uses leg operating tools to perform specified procedures homework. Skillful use of tools is the main difference between animals and humans, and also the core difference between ordinary machines and advanced robotics. This is also where the core value of the present invention lies.
搬运人员是消防、医用应急救援、人员护理中非常重要的核心任务。现有技术中一半用手去搬、很难想到用腿去进行搬运人员；即使想到用腿搬运人员，也很容易因行业偏见、参照现有技术中用机械臂抓取物体的方式去抓取人员则很容易导致两种不良后果：多手指的柔软的机械手无力可靠的抓取和搬运人员，或者机械手坚硬有力又很容易伤害人员。本发明中，以使腿臂融合的机械腿从人员下方托住人员的方式搬运人员，可以安全的搬运人员。破除了行业偏见，具有意向不到的效果。用机器人的机械腿安全搬运人员，避免警察或救援人员亲临危险现场，具有重要的经济和社会价值。Moving personnel is a very important core task in firefighting, medical emergency rescue, and personnel care. Half of the existing technology uses hands to carry people, and it is difficult to think of carrying people with legs; even if you think of using legs to carry people, it is easy to grab objects due to industry prejudice and refer to the way of grabbing objects with mechanical arms in the prior art People can easily lead to two kinds of adverse consequences: the soft manipulator with multiple fingers is unable to reliably grab and carry people, or the manipulator is hard and powerful and can easily injure people. In the present invention, a person is transported in such a way that the mechanical legs fused with the legs and arms support the person from below the person, so that the person can be carried safely. It breaks industry prejudice and has unexpected effects. It is of great economic and social value to use the mechanical legs of the robot to safely transport people and avoid the police or rescuers from going to the dangerous scene.
用腿臂融合的机械腿持作业工具切割(例如树枝、损毁建筑)、挖掘或铲物(清障)、安全搬运人员，是(火灾、水灾、地震)应急救援的重要任务。具有重要的经济和社会价值。Cutting (such as tree branches, damaged buildings), excavating or shoveling (obstacle removal), and safely moving people with mechanical legs with fused legs and arms are important tasks for emergency rescue (fire, flood, earthquake). It has important economic and social value.
附图说明Description of drawings
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或示范性技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings that need to be used in the embodiments or exemplary technical descriptions. Obviously, the accompanying drawings in the following descriptions are only for this application. For some embodiments, those skilled in the art can also obtain other drawings based on these drawings without creative efforts.
图1是一种具有机械腿的可移动的设备的立体示意图；Fig. 1 is a perspective schematic diagram of a movable device with mechanical legs;
图2是一种具有机械腿的可移动的设备的俯视方向的示意图；Fig. 2 is a schematic diagram of a top view direction of a movable device with mechanical legs;
图3是一种具有机械腿的可移动的设备的侧视方向的示意图；3 is a schematic diagram of a side view direction of a movable device with mechanical legs;
图4是一种具有机械腿的可移动的设备的侧视方向的简化的结构示意图；Fig. 4 is a simplified structural schematic diagram of a side view direction of a movable device with mechanical legs;
图5是一种腿臂融合的机械腿处于步行状态的可移动的设备的侧视方向的示意图；Fig. 5 is a schematic diagram of a side view direction of a movable device with a mechanical leg fused with a leg and an arm in a walking state;
图6是一种含机械腿的可移动的设备的侧视方向的示意图；Fig. 6 is a schematic diagram of a side view direction of a movable device containing mechanical legs;
图7是一种含机械腿的可移动的设备的侧视方向的示意图；Fig. 7 is a schematic diagram of a side view direction of a movable device containing mechanical legs;
图8是一种由机械腿在前拉车行驶的可移动的设备的侧视方向的示意图；Fig. 8 is a schematic diagram of a side view direction of a movable device driven by a mechanical leg pulling a cart in front;
图9是一种由机械腿在后推车行驶的可移动的设备的侧视方向的示意图；Fig. 9 is a schematic diagram of a side view direction of a movable device driven by a mechanical leg behind a cart;
图10是一种机械腿的立体示意图；Fig. 10 is a three-dimensional schematic diagram of a mechanical leg;
图11是一种机械腿的侧视方向的示意图；Fig. 11 is a schematic diagram of a side view direction of a mechanical leg;
图12是一种电动推杆的示意图；Fig. 12 is a schematic diagram of an electric push rod;
图13是一种导轨型运动机构的示意图；Fig. 13 is a schematic diagram of a guide rail type motion mechanism;
图14是一种导向机构的示意图；Fig. 14 is a schematic diagram of a guiding mechanism;
图15是一种履带式行走机构的示意图；Fig. 15 is a schematic diagram of a crawler-type traveling mechanism;
图16是一种机架处于立姿模式且机械腿位于机架上部的可移动的设备的侧视方向的示意图；Fig. 16 is a schematic diagram of a side view direction of a mobile device whose rack is in a standing position and whose mechanical legs are located on the upper part of the rack;
图17是一种机架处于立姿模式且机械腿位于机架下部步行的可移动的设备的侧视方向示意图；Fig. 17 is a side view direction schematic diagram of a mobile device whose rack is in a standing position mode and whose mechanical legs are located at the lower part of the rack;
图18是一种机架处于仰卧模式且机械腿位于机架中部步行的可移动的设备的侧视方向示意图。 Fig. 18 is a side view schematic diagram of a movable device with the rack in the supine mode and the mechanical legs in the middle of the rack for walking.
图19是另一种履带式行走机构的示意图。Fig. 19 is a schematic diagram of another crawler-type traveling mechanism.
附图标记：Reference signs:
01、机架；02-腿；02L-第一侧的腿；02R-第二侧的腿；01. Rack; 02-leg; 02L-leg on the first side; 02R-leg on the second side;
021-第一端的腿；021L-第一侧的第一端的腿；021R-第二侧的第一端的腿；021 - the leg of the first end; 021L - the leg of the first end of the first side; 021R - the leg of the first end of the second side;
022-第二端的腿；022L-第一侧的第二端的腿；022R-第二侧的第二端的腿；022-leg of second end; 022L-leg of second end of first side; 022R-leg of second end of second side;
023-第三部位的腿；023L-第一侧的第三部位腿；023R-第二侧的第三部位腿；023 - leg of the third part; 023L - leg of the third part of the first side; 023R - leg of the third part of the second side;
06-抓取装置；062L-第一侧的第二端的腿的末端的抓取装置；171-链锯；172-铲；173-剪刀；06-grabbing device; 062L-grabbing device of the end of the leg of the second end of the first side; 171-chainsaw; 172-shovel; 173-scissors;
115、顶部；1151-顶轮；12-第二线性运动机构；121-第一端的第二线性运动机构；121L-第一侧的第一端的第二线性运动机构；121R-第二侧的第一端的第二线性运动机构；122-第二端的第二线性运动机构；122L-第一侧的第二端的第二线性运动机构；122R-第二侧的第二端的第二线性运动机构；1315-顶部升降机构；115, top; 1151-top wheel; 12-the second linear motion mechanism; 121-the second linear motion mechanism of the first end; 121L-the second linear motion mechanism of the first end of the first side; 121R-the second side 122-the second linear motion mechanism of the second end; 122L-the second linear motion mechanism of the second end of the first side; 122R-the second linear motion mechanism of the second end of the second side mechanism; 1315-top lifting mechanism;
181-第一前后运动机构；181L-第一侧的第一前后运动机构；181R-第二侧的第一前后运动机构；181-the first forward and backward motion mechanism; 181L-the first forward and backward motion mechanism of the first side; 181R-the first forward and backward motion mechanism of the second side;
182-第二前后运动机构；182L-第一侧的第二前后运动机构；182R-第二侧的第二前后运动机构；182-the second forward and backward motion mechanism; 182L-the second forward and backward motion mechanism of the first side; 182R-the second forward and backward motion mechanism of the second side;
184-第一线性运动机构；184L-第一侧的第一线性运动机构；184R-第二侧的第一线性运动机构；184—first linear motion mechanism; 184L—first linear motion mechanism on first side; 184R—first linear motion mechanism on second side;
211-第一升降机构；211L-第一侧的第一升降机构；211R-第二侧的第一升降机构；211-the first lifting mechanism; 211L-the first lifting mechanism on the first side; 211R-the first lifting mechanism on the second side;
212、第一端的第三升降机构；212L-第一端且第一侧的第三升降机构；212R-第一端且第二侧的第三升降机构；221、第二端的第三升降机构；221L-第二端且第一侧的第三升降机构；221R-第二端且第二侧的第三升降机构；212, the third lifting mechanism at the first end; 212L-the third lifting mechanism at the first end and the first side; 212R-the third lifting mechanism at the first end and the second side; 221, the third lifting mechanism at the second end ; 221L-the third lifting mechanism at the second end and the first side; 221R-the third lifting mechanism at the second end and the second side;
222、第二升降机构；222L-第一侧的第二升降机构；222R-第二侧的第二升降机构；222, the second lifting mechanism; 222L-the second lifting mechanism on the first side; 222R-the second lifting mechanism on the second side;
511-第一行走机构；051-第一侧的第一行走机构；053-第二侧的第一行走机构；511-the first running gear; 051-the first running gear on the first side; 053-the first running gear on the second side;
522-第二行走机构；052-第一侧的第二行走机构；054-第二侧的第二行走机构；502-第一区域的行走轮；07、履带式行走机构；070、履带；10000-地面；10005-障碍物V；O-设备的重心位置。522-second traveling mechanism; 052-second traveling mechanism on the first side; 054-second traveling mechanism on the second side; 502-traveling wheels in the first area; 07, crawler-type traveling mechanism; 070, crawler belt; 10000 - ground; 10005 - obstacle V; O - position of the center of gravity of the device.
可选地，某些部件沿行驶方向横置有多个时，其标号会在后面加L和R标记，其中L表示沿行驶方向位于机架的左边，而R表示沿行驶方向位于机架的右边。例如，第一升降机构211设置有两个，其中一个第一升降机构标注为211L，另一个第一升降机构标注为211R，则第一升降机构211L沿行驶方向位于机架的左边，而第一升降机构211R沿行驶方向位于机架的右边。例如，第二升降机构222设置有两个，其中一个第二升降机构标注为222L，另一个第二升降机构标注为222R，则第二升降机构222L沿行驶方向位于机架的左边，而第二升降机构222R沿行驶方向位于机架的右边。其它，依次类推。可选的，履带式行走机构的标号也可为07M。171与172与173均为作业工具。Optionally, when there are several components horizontally placed along the traveling direction, their labels will be followed by L and R marks, wherein L indicates that it is located on the left side of the rack along the traveling direction, and R indicates that it is located on the left side of the rack along the traveling direction. right. For example, the first lifting mechanism 211 is provided with two, wherein one first lifting mechanism is marked as 211L, and the other first lifting mechanism is marked as 211R, then the first lifting mechanism 211L is located on the left side of the frame along the traveling direction, and the first The lifting mechanism 211R is located on the right side of the frame along the traveling direction. For example, the second elevating mechanism 222 is provided with two, wherein one second elevating mechanism is marked as 222L, and another second elevating mechanism is marked as 222R, then the second elevating mechanism 222L is positioned at the left side of the frame along the travel direction, and the second The lifting mechanism 222R is located on the right side of the frame in the direction of travel. Others, and so on. Optionally, the label of the crawler-type traveling mechanism may also be 07M. 171, 172 and 173 are working tools.
具体实施方式Detailed ways
因为机械腿具有多关节、贵重、粗壮有力、与人类行走方式接近、异常灵活的特性，本文的核心，在于突破行业的思维惯性，将机械腿、作业工具、轮履式行走机构和腿根运动机构巧妙配合，以意想不到的方式增强机械腿的能力或降低其成本。采用本文方案，具有多种特殊效果，例如：实现“机械腿在前步行+轮履机构在后滚动”的机器人拉车行驶模式、“轮履机构在前滚动+机械腿在后步行”机器人推车行驶模式、双腿在中部机架的两端向外凸出的“挑夫式”步行模式以增加重载步行稳定性、机械腿的根部(而非脚尖)上升到机架顶部(也即头部)的“腿上头”作业模式、由腿(而非手)操作作业工具进行多种特殊作业……本发明中个分支方案1、2和3并非仅能孤立使用，且能相互配合，使效果倍增。例如，分支方案1和分支方案3相结合：分支方案2不仅仅能大幅度的扩大分支方案1中作业范围，更能提高作业质量和效率(例如用刀砍树根，通过腿根运动机构先将腿臂融合的机械腿降至低位，更适合用力、使作业质量或作业效率更佳；例如，例如用刀修剪高位树枝，通过腿根运动机构先将腿臂融合的机械腿升至高位，使作业质量或作业效率更佳。同理，分支方案2与分支方案3配合也能起到类同作用。例如，有的作业需要前部作业(例如挖掘)，有的作业需要后部作业，例如插秧、种树，设备需要倒着走或用尾部作业工具的作业，才能不损伤已种的植株，通过腿根运动机构能将机械腿根据不同的作业需求到达不同位置，有益于提高前部作业的效率或质量；通过第四运动机构先将腿臂融合的机械腿运动至后部，能提高后部作业的效率或质量。Because the mechanical legs are multi-joint, expensive, strong and powerful, close to human walking, and extremely flexible, the core of this article is to break through the industry's thinking inertia and move the mechanical legs, working tools, wheel-track walking mechanism and leg roots. Mechanisms work together to enhance or reduce the cost of robotic legs in unexpected ways. Adopting the scheme in this paper, there are many special effects, such as: realizing the robot pulling cart driving mode of "mechanical legs walking in front + wheel-shoe mechanism rolling in the back", and robot pushing mode of "wheel-shoe mechanism rolling in front + mechanical legs walking in the back". Car driving mode, "porter-style" walking mode in which the legs protrude outward at both ends of the middle rack to increase the stability of heavy-load walking, and the roots of the mechanical legs (not toes) rise to the top of the rack (that is, the head Part) of the "legs on the head" operation mode, the operation tool is operated by the legs (instead of the hands) to perform a variety of special operations... The branch schemes 1, 2 and 3 in the present invention can not only be used in isolation, but can cooperate with each other to make The effect is multiplied. For example, the combination of branch plan 1 and branch plan 3: branch plan 2 can not only greatly expand the scope of operation in branch plan 1, but also improve the quality and efficiency of the operation (such as cutting tree roots with a knife, and first cutting through the leg-root movement mechanism). Lowering the mechanical leg fused with the leg and arm to a lower position is more suitable for exerting force, making the work quality or work efficiency better; for example, using a knife to trim high branches, and first raising the mechanical leg fused with the leg and arm to a high position through the leg root movement mechanism, Make the operation quality or operation efficiency better. Similarly, the cooperation of branch scheme 2 and branch scheme 3 can also play a similar role. For example, some operations require front operations (such as excavation), and some operations require rear operations. For example, transplanting rice seedlings and planting trees, the equipment needs to be walked backwards or operated with tail working tools in order not to damage the planted plants. The leg root movement mechanism can move the mechanical legs to different positions according to different operation requirements, which is beneficial to improve the front part. Efficiency or quality of operation; the fourth movement mechanism first moves the mechanical leg of the leg-arm fusion to the rear, which can improve the efficiency or quality of the rear operation.
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本申请。In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present application.
需说明的是，当部件被称为“固定于”或“设置于”另一个部件，它可以直接在另一个部件上 或者间接在该另一个部件上。当一个部件被称为是“连接于”另一个部件，它可以是直接或者间接连接至该另一个部件上。术语“上”、“下”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述，而不是指示或暗示所指的装置或元件必须具有指定的方位、以指定的方位构造和操作，因此不能理解为对本申请的限制，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。术语“第一”、“第二”仅用于便于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明技术特征的数量。“多个”的含义是两个或两个以上，除非另有明确具体限定。It should be noted that when a component is referred to as being "fixed" or "disposed on" another component, it can be directly on the other component Or indirectly on that other part. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. are based on the orientation or positional relationship shown in the drawings, and are for convenience of description only, rather than indicating or implying the referred device Or elements must have a specified orientation, be constructed and operated in a specified orientation, and thus should not be construed as limiting the application, and those of ordinary skill in the art can understand the specific meanings of the above terms according to specific situations. The terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of technical features. "Plurality" means two or more, unless otherwise clearly and specifically defined.
关于设备、机架姿态的说明：本文中，行驶方向为滚动式行走机构或腿无转向前行的行驶方向。行驶方向为前，第一侧为左侧，第二侧为右侧。前后左右方向以设备的重心O点为界。在无限定说明时：路面指平路；可移动的设备平置于水平路面；机架与平路平行。具体的，以附图中X所指方向即行驶方向。可移动的设备沿预定方向X1移动。当设备在水平路面行驶时，预定方向X1是水平方向。当设备在与水平方向具有一定夹角的路面行驶时，预定方向X1也与水平方向具有一定夹角。在无限定说明时，可移动的设备的机架01的姿态为第一卧姿。该第一卧姿为如图1-图7所示设备的姿态。第一立姿即机架01的首端朝上和机架01的尾端朝下。第一立姿即顺立。机架01的姿态为第一卧姿时：机架01平置于路面，且机架01沿行驶方向的长度大于机架01的高度且设备的行走机构能支撑机架01离地和驱动设备沿路面行驶。高度指机架01的上表面与下表面之间在上下方向的距离。长度指机架01沿行驶方向的前表面与后表面之间的距离。第一卧姿为常规、稳定状态。第一卧姿即机架01的腹部朝下和该机架01的背部朝上。第一卧姿即俯卧。立姿指机架01的一端朝上另一端朝下，且此时机架01的高度大于机架01的长度。当该设备的机架01姿态为第一卧姿时：该机架01的第一端位于该设备的重心之前，该机架01的第二端位于该设备的重心之后，第二区域的表面朝下。如同老虎，身躯平置、四肢着地可行走，此时老虎的姿态为第一卧姿。人站立起来的姿态为立姿。人俯卧的姿态为第一卧姿。Explanation on the posture of equipment and rack: In this paper, the driving direction refers to the driving direction of the rolling walking mechanism or the forward movement of the legs without steering. The direction of travel is forward, the first side is the left side, and the second side is the right side. The front, back, left, and right directions are bounded by the center of gravity O of the device. When there are no restrictions: the road surface refers to the flat road; the movable equipment is placed on the horizontal road; the rack is parallel to the flat road. Specifically, the direction indicated by X in the drawing is the driving direction. The movable device moves in a predetermined direction X1. When the device is running on a level road, the predetermined direction X1 is the horizontal direction. When the device is running on a road with a certain angle with the horizontal direction, the predetermined direction X1 also has a certain angle with the horizontal direction. Without limitation, the posture of the rack 01 of the movable equipment is the first lying posture. The first prone position is the posture of the device as shown in FIGS. 1-7 . The first standing posture is that the head end of the frame 01 is up and the tail end of the frame 01 is down. The first standing posture is straight standing. When the posture of the frame 01 is the first lying position: the frame 01 is flat on the road, and the length of the frame 01 along the driving direction is greater than the height of the frame 01, and the traveling mechanism of the equipment can support the frame 01 off the ground and drive the equipment Follow the road. The height refers to the distance in the up-down direction between the upper surface and the lower surface of the rack 01 . The length refers to the distance between the front surface and the rear surface of the rack 01 along the traveling direction. The first prone position is a normal, stable state. The first prone position is that the abdomen of the frame 01 faces down and the back of the frame 01 faces up. The first lying position is prone. Standing posture means that one end of the rack 01 faces up and the other end faces down, and the height of the rack 01 is greater than the length of the rack 01 at this time. When the posture of the frame 01 of the equipment is the first prone position: the first end of the frame 01 is located in front of the center of gravity of the equipment, the second end of the frame 01 is located behind the center of gravity of the equipment, the surface of the second area face down. Like a tiger, the body is flat and the four limbs are on the ground to walk. At this time, the posture of the tiger is the first lying position. The posture in which a person stands up is a standing posture. The posture of people's prone position is the first prone position.
1.请参阅图1至图9以及图16、图17和图18：一种可移动的设备的实施例1；该设备包括：1. Please refer to Figure 1 to Figure 9 and Figure 16, Figure 17 and Figure 18: Embodiment 1 of a movable device; the device includes:
机架01；Rack 01;
以该设备沿路面行驶的行驶方向为参考，位于该设备的重心O的第一侧的机械腿02和位于该设备的重心O的第二侧的机械腿02，该第一侧的机械腿02和该第二侧的机械腿02均连接于该机架01；Taking the driving direction of the device along the road as a reference, the mechanical leg 02 located on the first side of the center of gravity O of the device and the mechanical leg 02 located on the second side of the center of gravity O of the device, the mechanical leg 02 on the first side and the mechanical legs 02 on the second side are connected to the frame 01;
该第一侧的机械腿02和该第二侧的机械腿02配置为能步行，且该第一侧的机械腿02和该第二侧的机械腿02中所有的机械腿为腿臂融合的机械腿，该腿臂融合的机械腿的末端连接末端执行器，该末端执行器为作业工具17或用于连接作业工具17的连接部；The mechanical leg 02 on the first side and the mechanical leg 02 on the second side are configured to be able to walk, and all the mechanical legs in the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are leg-arm fusion A mechanical leg, the end of the mechanical leg fused with the leg arm is connected to the end effector, and the end effector is the working tool 17 or a connecting part for connecting the working tool 17;
该设备还包括连接于该机架01的滚动式行走机构57，该滚动式行走机构用于支撑该机架01离地和使使该设备沿路面行驶；该设备还包括用于使该机械腿的基座相对于该机架01能实现上下运动和/或前后运动的腿根运动机构，该腿根运动机构的一端连接于该机架01，该腿根运动机构的另一端连接该机械腿的基座。该腿臂融合的机械腿和该作业工具17配置为用于指定的作业。The device also includes a rolling traveling mechanism 57 connected to the frame 01, which is used to support the frame 01 off the ground and make the device travel along the road; the device also includes a mechanism for making the mechanical legs The base of the leg movement mechanism can realize up and down movement and/or forward and backward movement relative to the frame 01, one end of the leg movement mechanism is connected to the frame 01, and the other end of the leg movement mechanism is connected to the mechanical leg base. The fused robotic leg and the work tool 17 are configured for a given task.
可选的，所有的机械腿为腿臂融合的机械腿可替换为：第一端或第二端的机械腿为腿臂融合的机械腿。本文中，任一处步行均为多腿交替步行。Optionally, all the mechanical legs are mechanical legs with leg-arm fusion can be replaced by: the mechanical legs at the first end or the second end are mechanical legs with leg-arm fusion. In this paper, any walking is multi-leg alternating walking.
2、请参阅图1-图5，图1-图5所示为同一类型设备，图1为该设备的立体结构图；图2为俯视图，图3、图4和图5均为侧视图，基于实施例1的实施例2：基于实施例1所示的设备，2. Please refer to Figure 1-Figure 5, Figure 1-Figure 5 shows the same type of equipment, Figure 1 is a three-dimensional structure diagram of the equipment; Figure 2 is a top view, Figure 3, Figure 4 and Figure 5 are side views, Embodiment 2 based on Embodiment 1: based on the equipment shown in Embodiment 1,
该设备包括4条机械腿02，该四条机械腿02分别为：设于第一侧的第一端的腿021L、第二侧的第一端的腿021R、第一侧的第二端的腿022L、第二侧的第二端的腿022R；The device includes four mechanical legs 02, the four mechanical legs 02 are respectively: a leg 021L at the first end of the first side, a leg 021R at the first end of the second side, and a leg 022L at the second end of the first side , the leg 022R of the second end of the second side;
左前腿021L的末端连接有链锯171；右前腿021R的末端连接有铲172；左后腿022R的末端连接有取物装置062L；右后腿022R的末端连接有剪刀173；A chainsaw 171 is connected to the end of the left front leg 021L; a shovel 172 is connected to the end of the right front leg 021R; a retrieval device 062L is connected to the end of the left rear leg 022R; scissors 173 are connected to the end of the right rear leg 022R;
该滚动式行走机构57包括连接于该机架01的第一行走机构511和第二行走机构522，当该机架01的姿态为第一卧姿时，该第一行走机构511位于该可移动的设备的重心O之前，该第二行走机构522位于该可移动的设备的重心O之后，该第一行走机构511的下表面和该第二行走机构522的下表面均低于该机架01的第二区域的表面，该第一行走机构511和该第二行走机构522用于支撑该机架01离地和使该设备沿路面行驶；The rolling traveling mechanism 57 includes a first traveling mechanism 511 and a second traveling mechanism 522 connected to the frame 01. When the posture of the frame 01 is the first lying position, the first traveling mechanism 511 is located Before the center of gravity O of the equipment, the second traveling mechanism 522 is located behind the center of gravity O of the movable equipment, and the lower surface of the first traveling mechanism 511 and the lower surface of the second traveling mechanism 522 are lower than the frame 01 The surface of the second area, the first traveling mechanism 511 and the second traveling mechanism 522 are used to support the frame 01 off the ground and make the equipment travel along the road surface;
该第一行走机构511为第一行走轮和该第二行走机构522为第二行走轮；The first traveling mechanism 511 is a first traveling wheel and the second traveling mechanism 522 is a second traveling wheel;
该第一行走机构511包括设置于该设备的重心O的第一侧的第一行走机构051和设置于该重心O的第二侧的第一行走机构053；该第二行走机构522包括设置于该设备的重心O的第一侧的第二行走机构052和设置于该重心O的第二侧的第二行走机构054； The first traveling mechanism 511 includes the first traveling mechanism 051 arranged on the first side of the center of gravity O of the equipment and the first traveling mechanism 053 arranged on the second side of the center of gravity O; the second traveling mechanism 522 includes The second traveling mechanism 052 on the first side of the center of gravity O of the equipment and the second traveling mechanism 054 arranged on the second side of the center of gravity O;
该滚动式行走机构57包括连接于该机架01的第三行走机构，该第三行走机构为履带式行走机构07，当该机架01的姿态为第一卧姿时，该第三行走机构的下表面低于该机架01的第二区域的表面，该第三行走机构用于支撑该机架01离地和使该设备沿路面行驶，且该设备的重心O点的前后左右方均有该第三行走机构的抵地点，该第三行走机构位于该第一行走机构511和该第二行走机构522之间；This rolling type running mechanism 57 comprises the 3rd running mechanism that is connected with this frame 01, and this 3rd running mechanism is crawler type running mechanism 07, when the posture of this frame 01 is the first lying position, this 3rd running mechanism The lower surface of the lower surface of the frame 01 is lower than the surface of the second area of the frame 01. The third traveling mechanism is used to support the frame 01 off the ground and make the equipment run along the road, and the center of gravity O of the equipment is in the front, rear, left, and right directions. There is an arrival point of the third traveling mechanism, and the third traveling mechanism is located between the first traveling mechanism 511 and the second traveling mechanism 522;
该设备还包括第一升降机构211和第二升降机构222，该第一升降机构211和该第二升降机构222的一端均连接于该机架01，该第一升降机构211的另一端连接第一行走机构511，该第一升降机构211用于使该第一行走机构511相对于该机架01升降，该第二升降机构222的另一端连接第二行走机构522，该第二升降机构222用于使该第二行走机构522相对于该机架01升降；The equipment also includes a first lifting mechanism 211 and a second lifting mechanism 222, one end of the first lifting mechanism 211 and the second lifting mechanism 222 are connected to the frame 01, and the other end of the first lifting mechanism 211 is connected to the second lifting mechanism. A walking mechanism 511, the first lifting mechanism 211 is used to lift the first walking mechanism 511 relative to the frame 01, the other end of the second lifting mechanism 222 is connected to the second walking mechanism 522, the second lifting mechanism 222 Used to make the second traveling mechanism 522 move up and down relative to the frame 01;
该设备还包括该第三升降机构，该第三升降机构的一端连接于该机架01，该第三升降机构的另一端连接第三行走机构，该第三升降机构用于使该第三行走机构相对于该机架01升降；The equipment also includes the third lifting mechanism, one end of the third lifting mechanism is connected to the frame 01, the other end of the third lifting mechanism is connected to the third walking mechanism, and the third lifting mechanism is used to make the third walking mechanism The mechanism moves up and down relative to the frame 01;
该设备的顶部115通过顶部升降机构1315连接机架01，该顶部115相对于该机架01能升降；该顶部115设置有滚轮1151；顶部115为顶板，顶部115的滚轮1151设置于顶板的两侧。The top 115 of the equipment is connected to the frame 01 through the top elevating mechanism 1315, and the top 115 can be lifted relative to the frame 01; the top 115 is provided with rollers 1151; side.
该腿根运动机构包括：设置于该机架01的第一侧的第一端的第二线性运动机构121L、设置于该机架01的第二侧的第一端的第二线性运动机构121R、设置于该机架01的第一侧的第二端的第二线性运动机构122L和设置于该机架01的第二侧的第二端的第二线性运动机构122RThe leg motion mechanism includes: a second linear motion mechanism 121L disposed at the first end of the first side of the frame 01, a second linear motion mechanism 121R disposed at the first end of the second side of the frame 01 , the second linear motion mechanism 122L disposed at the second end of the first side of the frame 01 and the second linear motion mechanism 122R disposed at the second end of the second side of the frame 01
该第二线性运动机构121L的输出件连接该机械腿021L的基座；The output member of the second linear motion mechanism 121L is connected to the base of the mechanical leg 021L;
该第二线性运动机构121R的输出件连接该机械腿021R的基座；The output member of the second linear motion mechanism 121R is connected to the base of the mechanical leg 021R;
该第二线性运动机构122L的输出件连接该机械腿022L的基座；The output member of the second linear motion mechanism 122L is connected to the base of the mechanical leg 022L;
该第二线性运动机构122R的输出件连接该机械腿022R的基座；The output member of the second linear motion mechanism 122R is connected to the base of the mechanical leg 022R;
上述任一方位的第二线性运动机构的基座的两端分别指向该机架01的第一区域的表面和该机架01的第二区域的表面，该第二线性运动机构的基座的连接于该机架01；The two ends of the base of the second linear motion mechanism in any orientation above point to the surface of the first area of the frame 01 and the surface of the second area of the frame 01 respectively, and the base of the second linear motion mechanism connected to the rack 01;
上述任一方位的第二线性运动机构能带动该任一方位的机械腿的基座运动到第一区域，以使该机械腿的在第一区域进行指定的作业或攀爬，该第二线性运动机构也能带动该机械腿的基座运动到第二区域进行指定的作业或步行。The second linear motion mechanism in any orientation above can drive the base of the mechanical leg in any orientation to move to the first area, so that the mechanical leg can perform specified operations or climb in the first area, and the second linear motion mechanism can move to the first area. The motion mechanism can also drive the base of the mechanical leg to move to the second area for designated operations or walking.
当机架01处于卧姿时：第二线性运动机构12沿竖直方向连接机架01。设备的重心O点位于第一行走机构和第二行走机构之间。第三行走机构位于第一行走机构和第二行走机构之间。When the frame 01 is in a prone position: the second linear motion mechanism 12 is connected to the frame 01 in the vertical direction. The center of gravity O point of the equipment is located between the first traveling mechanism and the second traveling mechanism. The third running gear is located between the first running gear and the second running gear.
具体的，请参阅图1、图3或图4所示设备，各第二线性运动机构12分别带动该机构的输出件所连接的机械腿02的基座运动到上部以供该机械腿在上部进行指定的作业或攀爬。Specifically, referring to the equipment shown in Fig. 1, Fig. 3 or Fig. 4, each second linear motion mechanism 12 respectively drives the base of the mechanical leg 02 connected to the output part of the mechanism to move to the upper part for the mechanical leg to move to the upper part. For assigned work or climbing.
具体的，请参阅图5所示设备，各第二线性运动机构12分别带动该机构的输出件所连接的机械腿02的基座运动到下部，以供该机械腿在下部进行指定的作业或步行。Specifically, please refer to the equipment shown in Figure 5, each second linear motion mechanism 12 respectively drives the base of the mechanical leg 02 connected to the output part of the mechanism to move to the lower part, so that the mechanical leg can perform specified operations or walk.
上述实施例2，是本申请中一个典型实施例。具有众多特征。The above-mentioned embodiment 2 is a typical embodiment in this application. Has many characteristics.
请参阅图1至图5：可选的实施方案1，如实施例1或实施例2所述设备，该设备还包括第一前后运动机构181，该第一前后运动机构181的两端分别连接该第一升降机构211和该机架01，并用于使第一行走机构沿行驶方向前后移动。Please refer to Fig. 1 to Fig. 5: optional embodiment 1, as the device described in embodiment 1 or embodiment 2, the device also includes a first forward and backward motion mechanism 181, and the two ends of the first forward and backward motion mechanism 181 are respectively connected The first lifting mechanism 211 and the frame 01 are used to make the first traveling mechanism move forward and backward along the traveling direction.
第一侧的第一前后运动机构181L与第二侧的第一前后运动机构181R相对于纵轴间隔布置。The first forward and backward movement mechanism 181L on the first side and the first forward and backward movement mechanism 181R on the second side are arranged at intervals relative to the longitudinal axis.
第一侧的第一前后运动机构181L沿行驶方向连接于机架01的第一侧，The first front and rear movement mechanism 181L on the first side is connected to the first side of the frame 01 along the traveling direction,
第二侧的第一前后运动机构181R沿行驶方向连接于机架01的第二侧，The first front and rear movement mechanism 181R on the second side is connected to the second side of the frame 01 along the traveling direction,
第一侧的第一前后运动机构181L的输出件能带动第一侧第一端(左前)的第一行走机构051前后运动，以及还可带动设置于该侧和该部位的第二线性运动机构121L和机械腿021L前后运动；The output member of the first front and rear movement mechanism 181L on the first side can drive the first traveling mechanism 051 at the first end (left front) on the first side to move back and forth, and can also drive the second linear movement mechanism arranged on this side and this position 121L and mechanical leg 021L move back and forth;
第二侧的第一前后运动机构181R的输出件能带动第二侧第一端(右前)的第一行走机构053前后运动，以及还可带动设置于该侧和该部位的第二线性运动机构121R和机械腿021R前后运动；The output member of the first forward and backward movement mechanism 181R on the second side can drive the first traveling mechanism 053 at the first end (front right) on the second side to move back and forth, and also drive the second linear movement mechanism arranged on this side and this position 121R and mechanical leg 021R move back and forth;
可选的，该设备还包括第二前后运动机构182，该第二前后运动机构182的两端分别连接该第二行走机构和该机架01，并用于使第二行走机构沿行驶方向前后移动。Optionally, the device also includes a second forward and backward movement mechanism 182, the two ends of the second forward and backward movement mechanism 182 are respectively connected to the second traveling mechanism and the frame 01, and are used to move the second traveling mechanism forward and backward along the traveling direction .
第一侧的第二前后运动机构182L与第二侧的第二前后运动机构182R相对于纵轴间隔布置，The second forward and backward movement mechanism 182L on the first side and the second forward and backward movement mechanism 182R on the second side are arranged at intervals relative to the longitudinal axis,
第一侧的第二前后运动机构182L沿行驶方向连接于机架01的第一侧，The second forward and backward movement mechanism 182L on the first side is connected to the first side of the frame 01 along the traveling direction,
第二侧的第二前后运动机构182R沿行驶方向连接于机架01的第二侧，The second front and rear movement mechanism 182R on the second side is connected to the second side of the frame 01 along the traveling direction,
第一侧的第二前后运动机构182L的输出件能带动第一侧第二端(左后)的第二行走机构052前后运动，以及还可带动设置于该侧和该部位的第二线性运动机构122L和机械腿022L前后运动；The output member of the second front and rear movement mechanism 182L on the first side can drive the second traveling mechanism 052 at the second end (left rear) on the first side to move back and forth, and can also drive the second linear movement arranged on this side and this position Mechanism 122L and mechanical leg 022L move back and forth;
第二侧的第二前后运动机构182R的输出件能带动第二侧第二端(右后)的第二行走机构054前 后运动，以及还可带动设置于该侧和该部位的第二线性运动机构122R和机械腿022R前后运动。The output part of the second front and rear movement mechanism 182R of the second side can drive the second traveling mechanism 054 front of the second end (right rear) of the second side. Back movement, and can also drive the second linear motion mechanism 122R and the mechanical leg 022R arranged on this side and this part to move forward and backward.
请参阅图6、图7、图16、图17和图18；该图6和图7为同一种设备的示意图；该图6和图7均为侧视图；图16、图17和图18为同一种设备的示意图；Please refer to Figure 6, Figure 7, Figure 16, Figure 17 and Figure 18; Figure 6 and Figure 7 are schematic diagrams of the same device; Figure 6 and Figure 7 are side views; Figure 16, Figure 17 and Figure 18 are A schematic diagram of the same device;
3、基于实施例1的实施例3：基于实施例1所示的设备，3. Embodiment 3 based on Embodiment 1: Based on the equipment shown in Embodiment 1,
该设备包括2条机械腿02，第一侧的腿02的数量为一，第二侧腿02数量也为一；The device includes two mechanical legs 02, the number of legs 02 on the first side is one, and the number of legs 02 on the second side is also one;
该腿根运动机构包括设置于该机架01的第一侧的第一线性运动机构184L和设置于该机架01的第二侧的第一线性运动机构184R；The leg motion mechanism includes a first linear motion mechanism 184L disposed on the first side of the frame 01 and a first linear motion mechanism 184R disposed on the second side of the frame 01;
该第一侧的第一线性运动机构184L的基座的连接于该机架01，该第一侧的第一线性运动机构184L的输出件连接第一侧的该腿臂融合的机械腿的基座；该第一侧的第一线性运动机构184L用于：带动第一侧的该机械腿的基座在该机架01的第一端与该机架01的第二端之间移动；The base of the first linear motion mechanism 184L on the first side is connected to the frame 01, and the output member of the first linear motion mechanism 184L on the first side is connected to the base of the mechanical leg of the leg-arm fusion on the first side. seat; the first linear motion mechanism 184L on the first side is used to: drive the base of the mechanical leg on the first side to move between the first end of the frame 01 and the second end of the frame 01;
该第二侧的第一线性运动机构184R的基座的连接于该机架01，该第二侧的第一线性运动机构184L的输出件连接第二侧的该腿臂融合的机械腿的基座；该第二侧的第一线性运动机构184R用于：带动第二侧的该机械腿的基座在该机架01的第一端与该机架01的第二端之间移动；The base of the first linear motion mechanism 184R on the second side is connected to the frame 01, and the output member of the first linear motion mechanism 184L on the second side is connected to the base of the mechanical leg of the leg-arm fusion on the second side. seat; the first linear motion mechanism 184R on the second side is used to: drive the base of the mechanical leg on the second side to move between the first end of the frame 01 and the second end of the frame 01;
该滚动式行走机构57包括连接于该机架01的第一行走机构511和第二行走机构522，当该机架01的姿态为第一卧姿时，该第一行走机构511位于该可移动的设备的重心O之前，该第二行走机构522位于该可移动的设备的重心O之后，该第一行走机构511的下表面和该第二行走机构522的下表面均低于该机架01的第二区域的表面，该第一行走机构511和该第二行走机构522用于支撑该机架01离地和使该设备沿路面行驶；The rolling traveling mechanism 57 includes a first traveling mechanism 511 and a second traveling mechanism 522 connected to the frame 01. When the posture of the frame 01 is the first lying position, the first traveling mechanism 511 is located Before the center of gravity O of the equipment, the second traveling mechanism 522 is located behind the center of gravity O of the movable equipment, and the lower surface of the first traveling mechanism 511 and the lower surface of the second traveling mechanism 522 are lower than the frame 01 The surface of the second area, the first traveling mechanism 511 and the second traveling mechanism 522 are used to support the frame 01 off the ground and make the equipment travel along the road surface;
该第一行走机构511为第一行走轮和该第二行走机构522为第二行走轮。The first traveling mechanism 511 is a first traveling wheel and the second traveling mechanism 522 is a second traveling wheel.
图16、图17和图18所示设备，该滚动式行走机构57包括连接于该机架01的第三行走机构。16, 17 and 18, the rolling traveling mechanism 57 includes a third traveling mechanism connected to the frame 01.
本文中，图6、图7、图8、图9、图16、图17和图18的俯视图的基础架构均与图2类同。不同的是，若设备包括2条腿，则该2条腿分别设置于该设备的重心O点的左右侧。若设备包括4条腿，则该4条腿分别设置于设备的重心O点的左前、右前、左后和右后部。Herein, the basic structures of the top views in FIG. 6 , FIG. 7 , FIG. 8 , FIG. 9 , FIG. 16 , FIG. 17 and FIG. 18 are all similar to those in FIG. 2 . The difference is that if the device includes two legs, the two legs are respectively arranged on the left and right sides of the center of gravity O of the device. If the device includes 4 legs, the 4 legs are respectively arranged at the left front, right front, left rear and right rear of the center of gravity O point of the device.
4.请参阅图8和图9，基于实施例1的实施例4：4. See also Fig. 8 and Fig. 9, embodiment 4 based on embodiment 1:
如实施例1所述的可移动的设备，该设备包括2条机械腿02，第一侧的腿02L的数量为一，第二侧腿02R数量也为一；该腿根运动机构包括连接支架的第一线性运动机构184，该第一线性运动机构184设置于该机架01的下方，该第一线性运动机构184的基座的连接于该机架01，该第一线性运动机构184的输出件连接支架，该支架的第一侧的部件连接第一侧的该腿臂融合的机械腿的基座，该支架的第二侧的部件连接第二侧的该腿臂融合的机械腿的基座。The movable device as described in Embodiment 1, the device includes two mechanical legs 02, the number of the first side leg 02L is one, and the number of the second side leg 02R is also one; the leg root movement mechanism includes a connecting bracket The first linear motion mechanism 184, the first linear motion mechanism 184 is arranged below the frame 01, the base of the first linear motion mechanism 184 is connected to the frame 01, the first linear motion mechanism 184 The output member is connected to the bracket, the first side part of the bracket is connected to the base of the leg-arm fusion mechanical leg on the first side, and the second side part of the bracket is connected to the leg-arm fusion robot leg on the second side. base.
可选的，该第一线性运动机构用于：带动第一侧的该机械腿02L的基座和第二侧的该机械腿02R的基座在该机架01的第一端与该机架01的第二端之间移动。Optionally, the first linear motion mechanism is used to: drive the base of the mechanical leg 02L on the first side and the base of the mechanical leg 02R on the second side to connect with the first end of the frame 01 01 to move between the second ends.
可选的，该第一线性运动机构用于：带动第一侧的该机械腿02L的基座和第二侧的该机械腿02R的基座在该机架01的第一端与该机架01的中部之间移动或在该机架01的中部与该机架01的第二端之间移动。Optionally, the first linear motion mechanism is used to: drive the base of the mechanical leg 02L on the first side and the base of the mechanical leg 02R on the second side to connect with the first end of the frame 01 01 or between the middle of the rack 01 and the second end of the rack 01.
如图6和图7所示为同一类型的设备。图8和图9所示为同一类型的设备。Figure 6 and Figure 7 show the same type of equipment. Figures 8 and 9 show the same type of equipment.
具体的，请参考图6和图8所示设备，第一线性运动机构的输出件带动机械腿的基座运动至机架01的第一端(前部)，此时设备能形成“由机械腿在前拉车”的独特行驶模式，且该机械腿撑地有助于第一行走轮511能离地、越障，解决轮式机构效率高载重大但越障能力差的痛点。Specifically, please refer to the equipment shown in Figure 6 and Figure 8, the output part of the first linear motion mechanism drives the base of the mechanical leg to move to the first end (front) of the frame 01, at this time the equipment can form a "mechanical The unique driving mode of "legs pulling the car in front", and the mechanical legs supporting the ground help the first walking wheel 511 to lift off the ground and overcome obstacles, which solves the pain point of the wheel mechanism with high efficiency and heavy load but poor obstacle ability.
具体的，请参考图7和图9所示设备，第一线性运动机构的输出件带动机械腿的基座运动至机架01的第二端(后部)，此时设备能形成“由机械腿在后退车”的独特行驶模式，且该机械腿撑地有助于第二行走轮522能离地、越障，解决轮式机构效率高载重大但越障能力差的痛点。Specifically, please refer to the equipment shown in Figure 7 and Figure 9, the output part of the first linear motion mechanism drives the base of the mechanical leg to move to the second end (rear) of the frame 01, at this time the equipment can form a "mechanical The unique driving mode of "legs in the backward car", and the support of the mechanical legs on the ground helps the second walking wheel 522 to lift off the ground and overcome obstacles, which solves the pain point of the wheel mechanism with high efficiency and heavy load but poor obstacle ability.
图16所示设备，此时设备的机架01处于第一立姿，在第一线性运动机构的驱动下机械腿的基座到达机架01第一端也即机架顶部(相当于头顶位置)，此时非常利于高位作业和攀爬。The equipment shown in Figure 16, at this time, the rack 01 of the equipment is in the first standing position, and the base of the mechanical leg reaches the first end of the rack 01, that is, the top of the rack (equivalent to the position above the head) driven by the first linear motion mechanism , which is very conducive to high-level operations and climbing at this time.
图17所示设备，在第一线性运动机构的驱动下，机械腿的基座到达机架01的第二端；此时设备的机架01处于第一立姿；也即机械腿的基座到达了机架底部(相当于尾部位置)，构成了标准的身体直立双腿着地的人型步行模式，此时非常利于低位作业。For the equipment shown in Figure 17, driven by the first linear motion mechanism, the base of the mechanical legs reaches the second end of the frame 01; at this time, the frame 01 of the equipment is in the first standing position; that is, the base of the mechanical legs reaches The bottom of the rack (equivalent to the tail position), constitutes a standard human-like walking pattern with the body standing upright and the legs on the ground, which is very conducive to low-position operations at this time.
图18所示设备，此时设备的机架01处于仰卧姿态也即第二卧姿，在第一线性运动机构的驱动下，机械腿的基座到达机架01的中部，因为设备两端的载重相对平衡，此时形成独特的“挑夫式”步行模式，挑夫挑货时人站在中间货在两边(平衡性好、所以能挑起更重的担子)，此时非常利于中区作业和提高步行的稳定性。 The equipment shown in Figure 18, at this time, the frame 01 of the equipment is in the supine position, that is, the second prone position. Driven by the first linear motion mechanism, the base of the mechanical legs reaches the middle of the frame 01, because the loads at both ends of the equipment Relatively balanced, a unique "porter-style" walking pattern is formed at this time. When porters pick goods, people stand in the middle and goods are on both sides (the balance is good, so they can pick up heavier burdens). Stability of walking.
可选的，该实施方案4中，该第一线性运动机构184设置于该机架01的下方替换为：该第一线性运动机构184设置于该机架01的第一侧或第二侧。Optionally, in Embodiment 4, the first linear motion mechanism 184 is disposed under the frame 01 instead of: the first linear motion mechanism 184 is disposed on the first side or the second side of the frame 01 .
当机架01处于卧姿时：该第一线性运动机构的基座沿前后方向连接机架01，在机架01的第一端与该机架01的第二端之间移动即前后运动。该第一线性运动机构的输出件连接该机械腿02的基座。当机架01处于立姿时，在机架01的第一端与该机架01的第二端之间移动即上下运动即升降。When the frame 01 is in a prone position: the base of the first linear motion mechanism is connected to the frame 01 along the front-rear direction, and moves between the first end of the frame 01 and the second end of the frame 01 ie moves forward and backward. The output member of the first linear motion mechanism is connected to the base of the mechanical leg 02 . When the frame 01 is in a standing position, it moves between the first end of the frame 01 and the second end of the frame 01, that is, moves up and down, that is, lifts.
5.基于实施例1的实施例5：如实施例1所述的可移动的设备，该腿根运动机构包括设置于该机架01的第一侧的第一腿根摆动机构19L,该第一侧的第一腿根摆动机构19L的基座的连接于该机架01，且该第一侧的第一腿根摆动机构19L的旋转轴指向左右，该第一侧的第一腿根摆动机构19L的输出件连接第一侧的该腿臂融合的机械腿的基座；5. Embodiment 5 based on Embodiment 1: the movable device as described in Embodiment 1, the leg movement mechanism includes a first leg swing mechanism 19L arranged on the first side of the frame 01, the first leg swing mechanism 19L The base of the first leg swing mechanism 19L on one side is connected to the frame 01, and the rotation axis of the first leg swing mechanism 19L on the first side points to the left and right, and the first leg swing mechanism on the first side The output of mechanism 19L is connected to the base of the robotic leg of the leg-arm fusion on the first side;
该第一侧的第一腿根摆动机构19L用于：带动第一侧的该机械腿的基座在该机架01的第一侧的第一端、该机架01的第一侧的中部与该机架01的第一侧的第二端之间摆动；The first leg root swing mechanism 19L on the first side is used to: drive the base of the mechanical leg on the first side at the first end of the first side of the frame 01 and the middle part of the first side of the frame 01 swing between the second end of the first side of the rack 01;
该腿根运动机构包括设置于该机架01的第二侧的第一腿根摆动机构19R,该第二侧的第一腿根摆动机构19R的基座的连接于该机架01，且该第二侧的第一腿根摆动机构19R的旋转轴指向左右，该第二侧的第一腿根摆动机构19R的输出件连接第二侧的该腿臂融合的机械腿的基座；The leg movement mechanism includes a first leg swing mechanism 19R arranged on the second side of the frame 01, the base of the first leg swing mechanism 19R on the second side is connected to the frame 01, and the The rotation axis of the first leg swing mechanism 19R on the second side points to the left and right, and the output part of the first leg swing mechanism 19R on the second side is connected to the base of the mechanical leg of the leg-arm fusion on the second side;
该第二侧的第一腿根摆动机构19R用于：带动第二侧的该机械腿的基座在该机架01的第二侧的第一端、该机架01的第二侧的中部与该机架01的第二侧的第二端之间摆动。The first leg swing mechanism 19R on the second side is used to: drive the base of the mechanical leg on the second side at the first end of the second side of the frame 01 and the middle part of the second side of the frame 01 swing between the second end and the second side of the rack 01.
可选的，实施方案6中，该第一侧的第一腿根摆动机构19L的用途替换为：用于带动第一侧的该机械腿的基座在该机架01的第一侧的第一端、该机架01的第一侧的中部与该机架01的第一侧的第二端中任意两种位置之间摆动。Optionally, in Embodiment 6, the purpose of the first leg root swing mechanism 19L on the first side is replaced by: the base for driving the mechanical leg on the first side is on the first side of the first side of the frame 01 One end, the middle of the first side of the rack 01 and the second end of the first side of the rack 01 can swing between any two positions.
可选的，实施方案6中，该第二侧的第一腿根摆动机构19R的用途替换为：用于带动第二侧的该机械腿的基座在该机架01的第二侧的第一端、该机架01的第二侧的中部与该机架01的第二侧的第二端中任意两种位置之间摆动。Optionally, in Embodiment 6, the purpose of the first leg swing mechanism 19R on the second side is replaced by: the base for driving the mechanical leg on the second side is on the second side of the frame 01 One end, the middle of the second side of the rack 01 and the second end of the second side of the rack 01 can swing between any two positions.
可选的，第一腿根摆动机构的旋转机构可采用齿轮组机构、涡轮蜗杆机构。本实施例1中，第一腿根摆动机构选用涡轮蜗杆机构其能自锁定位。Optionally, the rotation mechanism of the first leg root swing mechanism may adopt a gear set mechanism or a worm gear mechanism. In the present embodiment 1, the first leg root swing mechanism is a worm gear mechanism which can self-lock.
可选的，机架01的两侧的第一端、该机架01的中部与机架01的第二端设有锁定机构，当第一腿根摆动机构的活动端摆动到该锁定机构所在位置时，该锁定机构能锁定该活动端以使该活动端牢固的固定于该锁定机构所在位置。Optionally, the first end on both sides of the frame 01, the middle part of the frame 01 and the second end of the frame 01 are provided with a locking mechanism, when the movable end of the first leg swing mechanism swings to where the locking mechanism is located position, the locking mechanism can lock the movable end so that the movable end is firmly fixed at the position of the locking mechanism.
可选的，第一线性运动机构184、该第二线性运动机构12、第一腿根摆动机构可任意的构成多维运动机构。多维运动机构的基座连接机架01，输出件连接该机械腿02的基座。Optionally, the first linear motion mechanism 184, the second linear motion mechanism 12, and the first leg root swing mechanism can arbitrarily constitute a multi-dimensional motion mechanism. The base of the multi-dimensional motion mechanism is connected to the frame 01, and the output part is connected to the base of the mechanical leg 02.
一种具体的实施例：第一侧的第一腿根摆动机构19L的基座安装于该机架的第一侧的中部的外边缘；第二侧的第一腿根摆动机构19R的基座安装于该机架的第一侧的中部的外边缘；且基座的旋转轴心均指向左右，使该第一腿根摆动机构的摆臂相对于机架01能前后上下摆动。优选的，该第一腿根摆动机构的摆臂的长度可设置为接近于1/2机架的长度。可选的，该接近可为等于。例如，如图6或图7所示，取消第一侧的第一线性运动机构184，将第一侧的第一腿根摆动机构19L的基座安装于也即重心O点的第一侧的机架的外边缘的位置。例如，如图18所示，取消第一侧的第一线性运动机构184，在上下前后位置上将第一侧的第一腿根摆动机构19L的基座点设于腿02L和腿02R的交叉处。在该交叉处的机架的第一侧的边缘安装第一腿根摆动机构19L的基座。A specific embodiment: the base of the first leg swing mechanism 19L on the first side is installed on the outer edge of the middle part of the first side of the frame; the base of the first leg swing mechanism 19R on the second side Installed on the outer edge of the middle part of the first side of the frame; and the rotation axis of the base points to the left and right, so that the swing arm of the first leg swing mechanism can swing up and down relative to the frame 01. Preferably, the length of the swing arm of the first leg root swing mechanism can be set to be close to 1/2 the length of the frame. Optionally, the approximation may be equal to. For example, as shown in FIG. 6 or FIG. 7, the first linear motion mechanism 184 on the first side is canceled, and the base of the first leg swing mechanism 19L on the first side is installed on the first side of the center of gravity O point. The location of the outer edge of the rack. For example, as shown in Figure 18, the first linear motion mechanism 184 on the first side is canceled, and the base point of the first leg swing mechanism 19L on the first side is set at the intersection of the leg 02L and the leg 02R in the up and down position. place. The base of the first leg swing mechanism 19L is mounted on the edge of the first side of the frame at the intersection.
当第一腿根摆动机构的摆臂往前摆且该摆臂与机架01平行时，该摆臂的末端刚好位于机架01第一端(也即前端)的边缘，此时非常适合前端作业和前端步行；当第一腿根摆动机构的摆臂往后摆且该摆臂与机架01平行时，该摆臂的末端刚好位于机架01第二端(也即后段)的边缘，此时非常适合后端作业和后端步行；当第一腿根摆动机构的摆臂往上摆且该摆臂竖直时，该摆臂的末端刚好位于机架01的中上部，此时非常利于高位作业和攀爬。When the swing arm of the first leg swing mechanism swings forward and the swing arm is parallel to the frame 01, the end of the swing arm is just at the edge of the first end (that is, the front end) of the frame 01, which is very suitable for the front end at this time. Operation and front-end walking; when the swing arm of the first leg root swing mechanism swings backward and the swing arm is parallel to the frame 01, the end of the swing arm is just at the edge of the second end of the frame 01 (that is, the rear section) , which is very suitable for rear-end work and rear-end walking at this time; when the swing arm of the first leg root swing mechanism swings up and the swing arm is vertical, the end of the swing arm is just located in the middle and upper part of the frame 01, at this time Very good for working at heights and climbing.
6、进一步的，可选的实施方案2：如实施例1、实施例2或实施例3所述设备，6. Further, optional embodiment 2: the equipment described in Example 1, Example 2 or Example 3,
在该机架01的第一端的该第一侧的机械腿02的基座和该第二侧的机械腿02的基座通过第二支架连接，当通过该第二支架连接的该第一侧的机械腿02和该第二侧的机械腿02断开与该机架01的机械连接时，通过该第二支架连接的该第一侧的机械腿02和该第二侧的机械腿02能独立于该设备沿路面步行。断开机械连接即脱离或分离。The base of the mechanical leg 02 on the first side of the first end of the frame 01 and the base of the mechanical leg 02 on the second side are connected through a second bracket. When the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are disconnected from the frame 01, the mechanical leg 02 on the first side and the mechanical leg 02 on the second side connected by the second bracket Able to walk along the road independently of the device. Disengagement or separation is the breaking of a mechanical connection.
可选的，该机架01的第一端可替换为该机架01的中部或该机架01的第二端。Optionally, the first end of the rack 01 can be replaced by the middle of the rack 01 or the second end of the rack 01 .
通过第二支架连接的第一侧的机械腿02和第二侧的机械腿02，即成对的机械腿02。成对的机械腿02数量并未限定为一对。成对的机械腿数量也可为两对，例如该两对可为设备的机架01的第 一端的成对的机械腿和该设备的机架01的第二端的成对的机械腿。两对成对的机械腿中，机械腿的数量为四。The mechanical legs 02 on the first side and the mechanical legs 02 on the second side are connected by the second bracket, that is, a pair of mechanical legs 02 . The number of pairs of mechanical legs 02 is not limited to one pair. The number of paired mechanical legs can also be two pairs, for example, the two pairs can be the first rack 01 of the equipment. The paired mechanical legs at one end and the paired mechanical legs at the second end of the rack 01 of the device. Among the two pairs of mechanical legs, the number of mechanical legs is four.
通过该第二支架连接的该第一侧的机械腿02和该第二侧的机械腿02具有能独立于该设备的腿用电池和步行控制装置。腿用电池用于为该一对机械腿提供电源，该步行控制装置用于控制该一对机械腿沿路面步行。且该步行控制装置具有第二通讯模块，该设备的控制装置的具有第一通讯模块。第二通讯模块与该第一通讯模块能相互通讯。该设备的控制装置能通过通讯模块控制该步行控制装置，也即该设备的控制装置能通过通讯模块控制该一对机械腿。The mechanical leg 02 on the first side and the mechanical leg 02 on the second side connected by the second bracket have a battery for the legs and a walking control device that can be independent of the device. The leg battery is used to provide power for the pair of mechanical legs, and the walking control device is used to control the pair of mechanical legs to walk along the road. And the walking control device has a second communication module, and the control device of the equipment has a first communication module. The second communication module and the first communication module can communicate with each other. The control device of the device can control the walking control device through the communication module, that is, the control device of the device can control the pair of mechanical legs through the communication module.
进一步的，请参阅图1至图7，可选的实施方案3：如实施例1、实施例2或实施例3所述设备，Further, please refer to Fig. 1 to Fig. 7, optional embodiment 3: the equipment described in embodiment 1, embodiment 2 or embodiment 3,
该第一行走机构511为第一行走轮和该第二行走机构522为第二行走轮，当由该第一行走轮和该第二行走轮所组成的轮式行走机构断开与该机架01的连接时，该轮式行走机构能独立于该设备沿路面行驶。该轮式行走机构具有能独立于该设备的第二电池和第二控制装置。第二电池用于为该轮式行走机构提供电源，该第二控制装置用于控制该滚动式行走机构沿路面步行。且该第二控制装置具有第三通讯模块，该设备的控制装置的具有第一通讯模块。第三通讯模块与该第一通讯模块能相互通讯。该设备的控制装置能通过通讯模块控制该第二控制装置，也即该设备的控制装置能通过通讯模块控制该轮式行走机构。The first traveling mechanism 511 is the first traveling wheel and the second traveling mechanism 522 is the second traveling wheel. When the wheeled traveling mechanism composed of the first traveling wheel and the second traveling wheel is disconnected from the frame 01, the wheeled traveling mechanism can run along the road independently of the equipment. The wheeled running gear has a second battery and a second control device that can be independent of the device. The second battery is used to provide power for the wheeled running mechanism, and the second control device is used to control the rolling running mechanism to walk along the road surface. And the second control device has a third communication module, and the control device of the equipment has a first communication module. The third communication module and the first communication module can communicate with each other. The control device of the equipment can control the second control device through the communication module, that is, the control device of the equipment can control the wheeled traveling mechanism through the communication module.
7、进一步的，可选的实施方案4：如实施例1、实施例2或实施例3所述设备，7. Further, optional embodiment 4: the equipment described in Example 1, Example 2 or Example 3,
当该机架01的姿态为第一卧姿时，该第一行走机构511的第一端的边缘位于该机架01的靠近该第二区域的表面的第一端的边缘的前方；When the posture of the frame 01 is the first prone position, the edge of the first end of the first traveling mechanism 511 is located in front of the edge of the first end of the surface of the frame 01 close to the second area;
当该机架01的姿态为第一卧姿时，该第二行走机构522的第二端的边缘位于该机架01的靠近该第二区域的表面的第二端的边缘的后方。When the posture of the frame 01 is the first lying posture, the edge of the second end of the second traveling mechanism 522 is located behind the edge of the second end of the surface of the frame 01 close to the second area.
可选的，如实施方案4所述的可移动的设备包括连接于该机架01的第一端的第一区域的行走轮，当该机架01的姿态为第一卧姿时：该第一端的第一区域的行走轮的上表面高于该机架01的第一端的第一区域的表面，该第一端的第一区域的行走轮的第一端的边缘位于该机架01的靠近该第一区域的表面的第一端的边缘的前方。Optionally, the mobile device according to Embodiment 4 includes road wheels connected to the first region of the first end of the frame 01, when the frame 01 is in the first prone position: the first The upper surface of the road wheels in the first area of one end is higher than the surface of the first area of the first end of the frame 01, and the edge of the first end of the road wheels in the first area of the first end is located at the frame In front of the edge of the first end of the surface of O1 close to the first region.
请参阅图16，可选的，如实施方案4所述的可移动的设备包括连接于该机架01的第二端的第一区域的行走轮502，当该机架01的姿态为第一卧姿时：该第二端的第一区域的行走轮502的上表面高于该机架01的第二端的第一区域的表面，该第二端的第一区域的行走轮502的第二端的边缘位于该机架01的靠近该第一区域的表面的第二端的边缘的后方。Please refer to Fig. 16. Optionally, the movable device according to Embodiment 4 includes road wheels 502 connected to the first area of the second end of the frame 01, when the posture of the frame 01 is the first lying posture: the upper surface of the road wheels 502 in the first area of the second end is higher than the surface of the first area of the second end of the frame 01, and the edge of the second end of the road wheels 502 in the first area of the second end is located The rear of the edge of the second end of the surface of the frame 01 close to the first area.
如图16所示设备，卧姿时：第二行走机构522的第二端的边缘位于该机架01的靠近该第二区域的表面的第二端的边缘的后方，该第二端的第一区域的行走轮502的第二端的边缘位于该机架01的靠近该第一区域的表面的第二端的边缘的后方；As shown in Figure 16, when in a prone position: the edge of the second end of the second traveling mechanism 522 is behind the edge of the second end of the surface of the frame 01 close to the second area, and the edge of the first area of the second end is The edge of the second end of the road wheel 502 is located behind the edge of the second end of the surface of the frame 01 close to the first area;
当设备的机架01处于第一立姿(也即第一端朝上、第二端朝下)时：第二行走机构522能支撑该机架01的靠近该第二区域的表面的第二端的边缘离地，该第二端的第一区域的行走轮502能支撑机架01靠近该第一区域的表面的第二端的边缘离地，从而使得设备即使处于第一立姿时也能灵活的行驶、调整作业位置，非常有利于提高作业效率和作业性能。When the frame 01 of the equipment is in the first standing position (i.e. the first end is up and the second end is down): the second traveling mechanism 522 can support the frame 01 near the second end of the surface of the second area The edge is off the ground, and the walking wheels 502 in the first area of the second end can support the edge of the second end of the surface of the frame 01 close to the first area, so that the equipment can travel flexibly even when it is in the first standing position. Adjusting the working position is very helpful to improve the working efficiency and working performance.
在附图中虽未画出第一端的第一区域的行走轮501，同等的逻辑，参照实施方式3和实施方式4设置第一行走机构511和第一端的第一区域的行走轮501，当当设备的机架01处于第二立姿(也即第一端朝下、第二端朝上)时：第一行走机构511能支撑该机架01的靠近该第二区域的表面的第一端的边缘离地，该第一端的第一区域的行走轮501能支撑机架01靠近该第一区域的表面的第一端的边缘离地，从而使得设备即使处于第二立姿时也能灵活的行驶、调整作业位置，非常有利于提高作业效率和作业性能。Although the road wheels 501 in the first area of the first end are not shown in the accompanying drawings, with the same logic, refer to Embodiment 3 and Embodiment 4 to set the first traveling mechanism 511 and the road wheels 501 in the first area of the first end. , when the frame 01 of the equipment is in the second standing position (that is, the first end is facing down and the second end is facing up): the first running mechanism 511 can support the first part of the surface of the frame 01 close to the second area. The edge of the end is off the ground, and the walking wheels 501 in the first area of the first end can support the edge of the first end of the frame 01 near the surface of the first area, so that the equipment can be lifted even when it is in the second standing position. Flexible driving and adjustment of working position are very helpful to improve working efficiency and working performance.
可选的，第一行走机构511和第二行走机构522均连接驱动器(为有动力轮)，第一端的第一区域的行走轮501和第二端的第一区域的行走轮502无驱动器(但可滑行)。此时综合成本性能最佳。Optionally, the first traveling mechanism 511 and the second traveling mechanism 522 are all connected to drivers (being powered wheels), and the traveling wheels 501 in the first region of the first end and the traveling wheels 502 in the first region of the second end have no driver ( but slideable). At this time, the comprehensive cost performance is the best.
8、进一步的，可选的实施方案5：如实施例1、实施例2或实施例3所述设备，该第一行走轮和该第二行走轮为轮毂电机。轮毂电机指在行走轮的壳体中包含驱动该行走轮旋转的电机、用于使该行走轮制动的制动器。轮毂电机能使行走轮和驱动器的体积小、重量轻、结构简化。8. Further, optional embodiment 5: the device as described in embodiment 1, embodiment 2 or embodiment 3, the first traveling wheel and the second traveling wheel are in-wheel motors. The in-wheel motor refers to a motor that drives the road wheel to rotate and a brake for braking the road wheel in the housing of the road wheel. The hub motor can make the traveling wheel and drive small in size, light in weight and simplified in structure.
进一步的，请参阅图1至图5，可选的实施方案6：如实施例1和实施例2所述的可移动的设备，Further, please refer to Fig. 1 to Fig. 5, optional embodiment 6: the mobile device as described in embodiment 1 and embodiment 2,
当履带式行走机构07断开与该机架01的连接时，该履带式行走机构07能独立于该设备沿路面行驶。该履带式行走机构07具有能独立于该设备的第三电池和第三控制装置。第三电池用于为该滚动式行走机构提供电源，该第三控制装置用于控制该履带式行走机构07沿路面步行。且该第三控制 装置具有第四通讯模块，该设备的控制装置的具有第一通讯模块。第四通讯模块与该第一通讯模块能相互通讯。该设备的控制装置能通过通讯模块控制该第三控制装置，也即该设备的控制装置能通过通讯模块控制该履带式行走机构07。线性运动机构或线性移动机构均为直线驱动机构。When the crawler traveling mechanism 07 is disconnected from the frame 01, the crawler traveling mechanism 07 can travel along the road independently of the equipment. The caterpillar 07 has a third battery and a third control device which can be independent of the device. The third battery is used to provide power for the rolling running mechanism, and the third control device is used to control the crawler running mechanism 07 to walk along the road. and the third control The device has a fourth communication module, the control device of the device has a first communication module. The fourth communication module and the first communication module can communicate with each other. The control device of the equipment can control the third control device through the communication module, that is, the control device of the equipment can control the crawler-type traveling mechanism 07 through the communication module. A linear motion mechanism or a linear moving mechanism is a linear drive mechanism.
9、可选的，如实施例1、实施例2或实施例3所述设备，该第一行走机构511为第一分布式履带机构。可选的，该第二行走机构522为第二分布式履带机构。9. Optionally, as for the equipment described in Embodiment 1, Embodiment 2 or Embodiment 3, the first traveling mechanism 511 is a first distributed crawler mechanism. Optionally, the second traveling mechanism 522 is a second distributed crawler mechanism.
可选的，如实施例1、实施例2、实施例3所示设备，该滚动式行走机构57只包括连接于该机架01的第一行走机构511和第二行走机构522。可选的，如实施例1、实施例2、实施例3所示设备无该滚动式行走机构57，该设备只包括腿根运动机构。可选的，如实施例1、实施例2、实施例3所示设备，该滚动式行走机构57只包括连接于该机架01的第三行走机构，该第三行走机构为履带式行走机构07。Optionally, as in the equipment shown in Embodiment 1, Embodiment 2, and Embodiment 3, the rolling traveling mechanism 57 only includes the first traveling mechanism 511 and the second traveling mechanism 522 connected to the frame 01 . Optionally, as shown in Embodiment 1, Embodiment 2, and Embodiment 3, the equipment does not have the rolling walking mechanism 57, and the equipment only includes a leg-heel motion mechanism. Optionally, as in the equipment shown in Embodiment 1, Embodiment 2, and Embodiment 3, the rolling traveling mechanism 57 only includes a third traveling mechanism connected to the frame 01, and the third traveling mechanism is a crawler-type traveling mechanism 07.
可选的，任一升降机构均可为竖向连接于机架01的线性运动机构。任一升降机构包括顶部升降机构1315、滚动件升降机构21。Optionally, any lifting mechanism can be a linear motion mechanism vertically connected to the frame 01 . Any lifting mechanism includes a top lifting mechanism 1315 and a rolling element lifting mechanism 21 .
在实施例1和实施例2中，该线性运动机构为电动推杆。可选的，该线性运动机构为为伸缩式液压缸或伸缩式气缸。In Embodiment 1 and Embodiment 2, the linear motion mechanism is an electric push rod. Optionally, the linear motion mechanism is a telescopic hydraulic cylinder or a telescopic air cylinder.
在实施例1和实施例2中，第二线性运动机构12为导轨型运动机构。In Embodiment 1 and Embodiment 2, the second linear motion mechanism 12 is a rail type motion mechanism.
可选的，第一前后运动机构和第二前后运动机构的类型为电动推杆。可选的，前后运动机构为或伸缩式液压缸或伸缩式气缸。Optionally, the types of the first forward and backward movement mechanism and the second forward and backward movement mechanism are electric push rods. Optionally, the front and rear movement mechanisms are telescopic hydraulic cylinders or telescopic air cylinders.
在实施例1和实施例3中，第一线性运动机构均为导轨型运动机构。可选的第一线性运动机构为电动推杆或伸缩式液压缸。In Embodiment 1 and Embodiment 3, the first linear motion mechanism is a guide rail type motion mechanism. The optional first linear motion mechanism is an electric push rod or a telescopic hydraulic cylinder.
10、请参阅图19和图15：履带式行走机构07包括基座、连接于该基座的第一履带轮0721、第二履带轮0722以及履带070，履带070套接第一履带轮0721和第二履带轮0722。该基座即支架。以设备的重心O点为参考，履带式行走机构07包括第一侧的履带式行走机构和第二侧的履带式行走机构。该第一侧的履带式行走机构所含履带0701和该第二侧的履带式行走机构所含履带0702在俯视方向上的靠外的4角依次连线合围所形成的区域包含该设备的重心O。履带式行走机构的各触地点即该第一侧的履带0701和第二侧的履带0702的四角。第一侧的履带0701套接第一侧的第一履带轮0721和第一侧的第二履带轮0722。第二侧的履带0702套接第二侧的第一履带轮0721和第二侧的第二履带轮0722。10. Please refer to Fig. 19 and Fig. 15: the crawler-type traveling mechanism 07 includes a base, a first track wheel 0721 connected to the base, a second track wheel 0722 and a track 070, and the track 070 is sleeved on the first track wheel 0721 and Second Track Wheel 0722. The base is the stand. Taking the center of gravity O of the equipment as a reference, the crawler running mechanism 07 includes a crawler running mechanism on the first side and a crawler running mechanism on the second side. The area formed by connecting the outer four corners of the crawler belt 0701 included in the crawler-type traveling mechanism on the first side and the crawler belt 0702 included in the crawler-type traveling mechanism on the second side in sequence in the direction of the top view includes the center of gravity of the equipment O. Each contact point of the crawler-type traveling mechanism is the four corners of the crawler belt 0701 on the first side and the crawler belt 0702 on the second side. The track 0701 on the first side is sleeved on the first track wheel 0721 on the first side and the second track wheel 0722 on the first side. The track 0702 on the second side is sleeved on the first track wheel 0721 on the second side and the second track wheel 0722 on the second side.
若履带式行走机构设置于该设备的前后部且该设备中无其他的滚动式行走机构，则与该履带式行走机构07对应的升降机构也可为第一升降机构211和第二升降机构222。可选的连接方案如下：If the crawler-type traveling mechanism is arranged at the front and rear of the equipment and there is no other rolling-type traveling mechanism in the equipment, then the lifting mechanism corresponding to the crawler-type traveling mechanism 07 may also be the first lifting mechanism 211 and the second lifting mechanism 222 . The optional connection schemes are as follows:
第一侧的第一端的第一升降机构211L的输出件连接第一侧的第一端的履带式行走机构的基座；The output member of the first lifting mechanism 211L at the first end of the first side is connected to the base of the crawler-type traveling mechanism at the first end of the first side;
第一侧的第二端的第二升降机构222L的输出件连接第一侧的第二端的履带式行走机构的基座；The output member of the second lifting mechanism 222L at the second end of the first side is connected to the base of the crawler-type traveling mechanism at the second end of the first side;
第二侧的第一端的第一升降机构211R的输出件连接第二侧的第一端的履带式行走机构的基座；The output member of the first lifting mechanism 211R at the first end of the second side is connected to the base of the crawler-type traveling mechanism at the first end of the second side;
第二侧的第二端的第二升降机构222R的输出件连接第二侧的第二端的履带式行走机构的基座。The output member of the second lifting mechanism 222R at the second end of the second side is connected to the base of the crawler-type traveling mechanism at the second end of the second side.
也可采用其他的连接方式：例如，第一侧的履带式行走机构的基座仅连接左边的第一升降机构211L的输出件，第二侧的履带式行走机构的基座仅连接右边的第二升降机构222R的输出件。Other connection methods can also be used: for example, the base of the crawler-type traveling mechanism on the first side is only connected to the output member of the first lifting mechanism 211L on the left, and the base of the crawler-type traveling mechanism on the second side is only connected to the first lifting mechanism 211L on the right. The output member of the second lifting mechanism 222R.
在实施例1、实施例2中，该第三升降机构设置4个，例如分别为第一端且第一侧的第三升降机构212L、第一端且第二侧的第三升降机构212R、第二端且第一侧的第三升降机构221L和第二端且第二侧的第三升降机构221R，可分别连接滚动式行走机构中位于左前、左后、右前和右后角的基座。In Embodiment 1 and Embodiment 2, four third lifting mechanisms are provided, for example, the third lifting mechanism 212L at the first end and the first side, the third lifting mechanism 212R at the first end and the second side, The third elevating mechanism 221L at the second end and the first side and the third elevating mechanism 221R at the second end and the second side can be respectively connected to the bases at the left front, left rear, right front and right rear corners of the rolling traveling mechanism .
本实施例1和实施例2中，设备包括第一行走机构511和第二行走机构522。履带式行走机构07m设置于该设备的中部，履带式行走机构07的基座连接于4个第三升降机构的输出件。第三升降机构的一端均连接该机架01，4个第三升降机构的另一端分别连接履带式行走机构07m位于左前、左后、右前和右后角的基座；第三升降机构用于使履带式行走机构07相对于该机架01升降。In Embodiment 1 and Embodiment 2, the equipment includes a first traveling mechanism 511 and a second traveling mechanism 522 . The crawler-type traveling mechanism 07m is arranged at the middle part of the equipment, and the base of the crawler-type traveling mechanism 07 is connected to the output members of the 4 third lifting mechanisms. One end of the third lifting mechanism is connected to the frame 01, and the other ends of the four third lifting mechanisms are respectively connected to the bases of the crawler-type traveling mechanism 07m located at the left front, left rear, right front and right rear corner; the third lifting mechanism is used for The crawler-type traveling mechanism 07 is raised and lowered relative to the frame 01 .
本实施例1和实施例2所示的第三升降机构与履带式行走机构07的连接方式如下：The connection mode of the third elevating mechanism shown in the present embodiment 1 and embodiment 2 and the crawler-type traveling mechanism 07 is as follows:
第一端且第一侧的第三升降机构212L的输出件连接第一端的第一侧的履带式行走机构的基座；The first end and the output member of the third lifting mechanism 212L on the first side are connected to the base of the crawler-type traveling mechanism on the first side of the first end;
第一端且第二侧的第三升降机构212R的输出件连接第一端的第二侧的履带式行走机构的基座；The output member of the third lifting mechanism 212R at the first end and the second side is connected to the base of the crawler-type traveling mechanism at the second side of the first end;
第二端且第一侧的第三升降机构221L的输出件连接第二端的第一侧的履带式行走机构的基座；The second end and the output member of the third lifting mechanism 221L on the first side are connected to the base of the crawler-type traveling mechanism on the first side of the second end;
第二端且第二侧的第三升降机构221R的输出件连接第二端的第二侧的履带式行走机构的基座。The output member of the third lifting mechanism 221R at the second end and on the second side is connected to the base of the crawler-type traveling mechanism on the second side of the second end.
任一种滚动式行走机构与滚动件升降机构的连接均可以此类推得出准确的连接方案。The connection between any kind of rolling traveling mechanism and the rolling element lifting mechanism can be deduced to obtain an accurate connection scheme.
11、滚动件升降机构21即第一升降机构211和/或第二升降机构222和/或第三升降机构。滚动式行走机构57即第一行走机构511和/或第二行走机构522和/或第三行走机构。滚动式行走机构指 轮式行走机构和/或履带式行走机构。滚动式行走机构均设置于设备的中下部。滚动式行走机构能支撑该机架01和能驱动可移动的设备沿路面行驶。支撑机架01尤其指支撑该机架01离地。滚动式行走机构指通过滚动件沿路面滚动使可移动的设备沿路面行驶。该滚动件为行走轮和/或履带。滚动式行走机构在支撑该机架01离地时的下表面位于机架01之下。行走轮即轮机构。本文中，任一处该连接轮，均指连接轮的轴。11. The rolling element lifting mechanism 21 is the first lifting mechanism 211 and/or the second lifting mechanism 222 and/or the third lifting mechanism. The rolling traveling mechanism 57 is the first traveling mechanism 511 and/or the second traveling mechanism 522 and/or the third traveling mechanism. rolling walking mechanism Wheeled running gear and/or tracked running gear. The rolling walking mechanism is set in the middle and lower part of the equipment. The rolling traveling mechanism can support the frame 01 and can drive movable equipment to travel along the road. Supporting the frame 01 especially refers to supporting the frame 01 off the ground. The rolling walking mechanism refers to the rolling of rolling parts along the road surface to make the movable equipment travel along the road surface. The rolling elements are road wheels and/or tracks. The lower surface of the rolling traveling mechanism when supporting the frame 01 off the ground is located under the frame 01. The walking wheel is the wheel mechanism. Herein, the connection wheel in any place refers to the shaft of the connection wheel.
多个第一行走机构511可连接一个第一升降机构211，或各多个第一行走轮511均对应连接一该第一升降机构211；各多个第二行走机构522可连接一个第二升降机构222，或多个第二行走轮522均对应连接一该第二升降机构222。对应连接指分别连接或分别对应连接。任一升降机构连接任一行走轮，均指升降机构连接行走轮的轴。行走轮可转动的连接于升降机构的输出件。任一的滚动式行走机构连接升降机构的方案均为：连接后该行走机构可正常行走。任一的行走轮均为可转动的连接升降机构。A plurality of first traveling mechanisms 511 can be connected to a first lifting mechanism 211, or each plurality of first traveling wheels 511 can be connected to a corresponding first lifting mechanism 211; each plurality of second traveling mechanisms 522 can be connected to a second lifting mechanism 211. The mechanism 222 or the plurality of second traveling wheels 522 are correspondingly connected to a second lifting mechanism 222 . Corresponding connection refers to separate connection or respectively corresponding connection. Any elevating mechanism is connected with any traveling wheel, all refers to the axle that elevating mechanism is connected traveling wheel. The traveling wheels are rotatably connected to the output member of the lifting mechanism. The scheme of connecting any rolling type traveling mechanism to the lifting mechanism is: after the connection, the traveling mechanism can walk normally. Any road wheel is a rotatable connection lifting mechanism.
在本实施例1和实施例2中：第一侧的第一端(左前)的行走轮051的轴连接于该方位的第一升降机构211L，第二侧的第一端(右前)的行走轮053的轴连接于右边的第一升降机构211R，第一侧的第二端(左后)的行走轮052的轴连接于左边的第二升降机构222L，第二侧的第二端(右后)的行走轮054的轴连接于右边的第二升降机构222R。In the present embodiment 1 and embodiment 2: the shaft of the road wheel 051 at the first end (left front) of the first side is connected to the first lifting mechanism 211L of this orientation, and the walking of the first end (right front) of the second side The shaft of wheel 053 is connected to the first elevating mechanism 211R on the right side, the shaft of the road wheel 052 at the second end (left rear) on the first side is connected to the second elevating mechanism 222L on the left side, and the second end (right rear) on the second side is connected to the second elevating mechanism 222L on the left side. The axle of the walking wheel 054 of rear) is connected to the second elevating mechanism 222R on the right side.
更具体的，例如，第一升降机构211沿竖直方向连接机架01，第一行走机构位于机架01的下方并连接第一升降机构211，从而第一升降机构211的输出件沿竖直方向伸缩或升降，以调整第一升降机构211的支撑长度，从而调节机架01的竖直高度，或机架01的高度保持不变，而第一升降机构211可以使第一行走机构相对机架01靠近预定距离，以使第一行走机构脱离地面，使第一行走机构可以从障碍物的上方越过障碍物。即第一行走机构的下表面的高度，不小于障碍物的上表面的高度；或第一升降机构211可以使第一行走机构相对机架01远离预定距离，以使第一行走机构抵接地面。本文中其他升降机构与相应的行走机构的连接，均可依次方案进行。More specifically, for example, the first elevating mechanism 211 is connected to the frame 01 in the vertical direction, and the first traveling mechanism is located below the frame 01 and connected to the first elevating mechanism 211, so that the output member of the first elevating mechanism 211 is vertically connected to the frame 01. Direction stretching or lifting, to adjust the support length of the first lifting mechanism 211, thereby adjusting the vertical height of the frame 01, or the height of the frame 01 remains unchanged, and the first lifting mechanism 211 can make the first traveling mechanism relative to the machine The frame 01 is close to the predetermined distance, so that the first traveling mechanism is separated from the ground, so that the first traveling mechanism can cross the obstacle from above the obstacle. That is, the height of the lower surface of the first traveling mechanism is not less than the height of the upper surface of the obstacle; or the first lifting mechanism 211 can make the first traveling mechanism far away from the frame 01 by a predetermined distance, so that the first traveling mechanism touches the ground . In this paper, the connection of other lifting mechanisms and corresponding running mechanisms can be carried out sequentially.
使行走机构上升以越障，指：使该行走机构的下表面上升至不低于障碍物上表面的高度，以使该行走机构越障。使行走机构越障指使该行走机构位于该障碍物之上或使该行走机构从该障碍物上方经过。越障是目的。使行走机构上升是越障的手段。使该行走机构上升，并非使该设备中所有的行走机构上升，而使靠近该障碍物的(一个或两)行走机构升降。Raising the traveling mechanism to overcome obstacles means: raising the lower surface of the traveling mechanism to a height not lower than the upper surface of the obstacle so that the traveling mechanism can overcome obstacles. Enabling the running gear to overcome obstacles refers to placing the running gear on the obstacle or making the running gear pass above the obstacle. Overcoming obstacles is the goal. Making the traveling mechanism rise is the means of surmounting obstacles. The traveling mechanism is raised, not all the traveling mechanisms in the equipment are raised, but the (one or two) traveling mechanisms close to the obstacle are raised and lowered.
可分段升降的滚动式行走机构群所含的行走机构称为可升降的行走机构。第一行走机构、和第二行走机构和第三行走机构均为可升降的行走机构。同理中，本文中，虽然包括多种可选方案，但所有部件均配置为不相互干涉。任一行走机构的下表面的可低于该机架01的下表面。The walking mechanism contained in the rolling walking mechanism group that can be lifted in sections is called the lifting walking mechanism. The first running gear, the second running gear and the third running gear are liftable running gears. In the same way, in this paper, although various optional solutions are included, all components are configured not to interfere with each other. The lower surface of any running gear can be lower than the lower surface of the frame 01.
12、请参阅图1至图9、图16、图17和图18所示设备，尤其请参阅图10和图11所示机械腿：12. Please refer to the equipment shown in Figure 1 to Figure 9, Figure 16, Figure 17 and Figure 18, especially the mechanical legs shown in Figure 10 and Figure 11:
如实施例1、实施例2、实施3所述的可移动的设备，该第一侧的机械腿02和该第二侧的机械腿02中任一条机械腿均包括：依次连接的第一关节部101、大腿102、第二关节部103和小腿104，该第二关节部103包括用于使该小腿104相对于该大腿102能前后摆动的第二摆动关节，该机械腿的基座指该第一关节部101所包括的第一个关节的基座，该机械腿的末端即该小腿104的末端。As for the mobile device described in Embodiment 1, Embodiment 2, and Embodiment 3, any one of the mechanical legs 02 on the first side and the mechanical legs 02 on the second side includes: first joints connected in sequence part 101, thigh 102, second joint part 103 and calf 104, the second joint part 103 includes a second swing joint for enabling the calf 104 to swing back and forth relative to the thigh 102, the base of the mechanical leg refers to the The base of the first joint included in the first joint part 101 , the end of the mechanical leg is the end of the lower leg 104 .
该第一关节部101包括使该大腿102相对于该机械腿的基座能前后摆动的第一摆动关节1012。The first joint part 101 includes a first swing joint 1012 enabling the thigh 102 to swing back and forth relative to the base of the mechanical leg.
可选的，该第一关节部101还包括使腿部旋转的第一旋转关节1011，该第一旋转关节1011连接该第一摆动关节1012。Optionally, the first joint part 101 further includes a first rotary joint 1011 for rotating the leg, and the first rotary joint 1011 is connected to the first swing joint 1012 .
第一旋转关节1011、第一摆动关节1012均属于第一关节部101。因第二关节部103仅仅含第二摆动关节，所以第二关节部103即第二摆动关节。该第一关节部101连接该机架01指该第一旋转关节1011的基座连接于该机架01。机械腿02与机架01的连接面可为第一旋转关节1011的F处，第一端(例如第一端(前部))腿021的连接面连接机架01中朝前的面。第二端(例如为后部)腿022的连接面连接机架01中朝后的面。机械腿02的基座为该第一旋转关节1011的基座。Both the first rotary joint 1011 and the first swing joint 1012 belong to the first joint part 101 . Since the second joint part 103 only includes the second swing joint, the second joint part 103 is the second swing joint. The connection of the first joint part 101 to the frame 01 means that the base of the first rotary joint 1011 is connected to the frame 01 . The connection surface between the mechanical leg 02 and the frame 01 can be at F of the first rotary joint 1011 , and the connection surface of the first end (for example, the first end (front)) leg 021 is connected to the front facing surface of the frame 01 . The connection face of the second end (eg rear) leg 022 connects the rear facing face of the frame 01 . The base of the mechanical leg 02 is the base of the first rotary joint 1011 .
第一旋转关节1011输出件的轴线A1即该关节的旋转轴。该第一摆动关节1012用于调整该大腿102相对于该机械腿基座的夹角ag2。该大腿102的轴线垂直于该第一摆动关节1012的输出轴。第二摆动关节103的旋转轴A3与第一摆动关节1012的旋转轴A2平行。该第二摆动关节103用于调整该小腿104相对于该大腿102的夹角ag3。该小腿104的轴线A4垂直于该第二摆动关节103的输出轴A3。该系列关节的设置，使大腿102和小腿104均能前后摆动。The axis A1 of the output member of the first rotary joint 1011 is the rotation axis of the joint. The first swing joint 1012 is used to adjust the included angle ag2 of the thigh 102 relative to the base of the mechanical leg. The axis of the thigh 102 is perpendicular to the output shaft of the first swing joint 1012 . The rotation axis A3 of the second swing joint 103 is parallel to the rotation axis A2 of the first swing joint 1012 . The second swing joint 103 is used to adjust the included angle ag3 of the lower leg 104 relative to the upper leg 102 . The axis A4 of the lower leg 104 is perpendicular to the output axis A3 of the second swing joint 103 . The arrangement of the series of joints enables both the thigh 102 and the lower leg 104 to swing back and forth.
请参阅图5、图6、图10和图11：进一步的，机械腿的末端通过第三关节部105连接该末端执行器，该第三关节部105用于调整该末端执行器的姿态。Please refer to FIG. 5 , FIG. 6 , FIG. 10 and FIG. 11 : further, the end of the mechanical leg is connected to the end effector through the third joint part 105 , and the third joint part 105 is used to adjust the posture of the end effector.
进一步的，该第三关节部105包括使该末端执行器相对于该小腿104摆动用的关节1052，当该 机械腿用于步行时，该关节1052能使该末端执行器上摆以防止该末端执行器触地。第三关节部包括依次连接的三个关节用于调整该末端执行器在三维空间的姿态。当该机械腿构造为：当该机械腿用于步行时，该机械腿用于撑地的部件的下表面低于该关节1052的输出件的下表面，该关节1052能使该末端执行器上摆。该用于撑地的部件即脚。进一步的，该脚连接有脚掌106A。Further, the third joint part 105 includes a joint 1052 for swinging the end effector relative to the lower leg 104, when the When the mechanical leg is used for walking, the joint 1052 can make the end effector swing up to prevent the end effector from touching the ground. The third joint part includes three joints connected in sequence to adjust the attitude of the end effector in three-dimensional space. When the mechanical leg is configured such that when the mechanical leg is used for walking, the lower surface of the ground-supporting part of the mechanical leg is lower than the lower surface of the output member of the joint 1052, and the joint 1052 can make the end effector put. The parts for supporting the ground are feet. Further, the foot is connected with sole 106A.
进一步的，该三个关节为依次连接的第一末端旋转用的关节1051、使该末端执行器相对于该小腿104摆动用的关节1052、第二末端旋转用的关节1053，该第一末端旋转用的关节1051用于使该末端执行器绕该关节1051输出轴的轴线旋转，该第二末端旋转用的关节1053用于使该末端执行器绕该关节1053输出轴的轴线A6旋转。该第一末端旋转用的关节1051输出轴平行于(或重合于)该小腿104的轴线A4。该关节1052的输出轴垂直于该关节1051的输出轴。该关节1052用于调整该末端用具相对于该小腿104的夹角ag5。该关节1053的输出轴垂直于该关节1052的输出轴。Further, the three joints are the joint 1051 for the first terminal rotation, the joint 1052 for swinging the end effector relative to the lower leg 104, and the joint 1053 for the second terminal rotation, which are sequentially connected. The used joint 1051 is used to rotate the end effector around the axis of the output shaft of the joint 1051 , and the joint 1053 used for the second end rotation is used to rotate the end effector around the axis A6 of the output shaft of the joint 1053 . The output shaft of the joint 1051 for the first end rotation is parallel to (or coincides with) the axis A4 of the lower leg 104 . The output axis of the joint 1052 is perpendicular to the output axis of the joint 1051 . The joint 1052 is used to adjust the angle ag5 of the terminal device relative to the lower leg 104 . The output axis of the joint 1053 is perpendicular to the output axis of the joint 1052 .
任一条机械腿中，依次连接的第一关节部101、第二关节部103的数量均为一。第一关节部101为该条机械腿所包括的第一个关节部。第一关节部101所含关节的数量可为多个。优选的，第一关节部101所包括的第一个关节为该第一旋转关节1011。可选的，第一关节部101所包括的第一个关节为该第一摆动关节1012。第一个关节指该机械腿的在连接关系上最接近设备的机架01的关节。任一机械腿均通过该机械腿的第一关节部101连接于设备的机架01。第一个关节必然为该机械腿的第一关节部101所含的关节。该第一个关节的基座即该机械腿的基座。In any mechanical leg, the number of the first joint part 101 and the second joint part 103 connected in sequence is one. The first joint part 101 is the first joint part included in the mechanical leg. The number of joints included in the first joint part 101 may be multiple. Preferably, the first joint included in the first joint part 101 is the first rotary joint 1011 . Optionally, the first joint included in the first joint part 101 is the first swing joint 1012 . The first joint refers to the joint of the mechanical leg that is closest to the rack 01 of the equipment in connection relationship. Any mechanical leg is connected to the frame 01 of the equipment through the first joint portion 101 of the mechanical leg. The first joint must be the joint included in the first joint part 101 of the mechanical leg. The base of the first joint is the base of the mechanical leg.
请参阅图1至图5：进一步的，如实施例1所述的设备，当该第一侧的机械腿02和该第二侧的机械腿02用于步行时，该第一侧的机械腿02和该第二侧的机械腿02中任一条机械腿所包括的第一个关节的输出轴指向前后。Please refer to Fig. 1 to Fig. 5: Further, according to the device described in Embodiment 1, when the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are used for walking, the mechanical leg 02 on the first side The output axis of the first joint included in any one of the mechanical legs 02 and the second mechanical leg 02 points forward and backward.
请参阅图6和图7所示设备，机械腿02步行时该机械腿所包括的第一个关节的输出轴指向左右。Please refer to the equipment shown in Fig. 6 and Fig. 7, when the mechanical leg 02 walks, the output shaft of the first joint included in the mechanical leg points to the left and right.
可选的，该机械腿所包括的第一个关节的输出轴指向下且该机械腿02所包括的该大腿102的根部位于该第一个关节的基座的下方。Optionally, the output shaft of the first joint included in the mechanical leg points downward and the root of the thigh 102 included in the mechanical leg 02 is located below the base of the first joint.
可选的，机械腿02中各关节的驱动器为旋转驱动器。旋转驱动器使各关节的输出件的摆动角度能大于180度。相较于由线性驱动器驱动提高了作业灵活度和/或作业范围。本实施例1中，旋转驱动器为旋转电机。Optionally, the driver of each joint in the mechanical leg 02 is a rotary driver. The rotary drive enables the swing angle of the output parts of each joint to be greater than 180 degrees. Increased working flexibility and/or working range compared to a drive with a linear drive. In Embodiment 1, the rotary driver is a rotary motor.
可选的，该第一摆动关节1012和该第二摆动关节103的驱动器为线性驱动器。线性驱动器能低成本的实现大功率的作业。Optionally, the drivers of the first swing joint 1012 and the second swing joint 103 are linear drives. Linear actuators can achieve high-power operations at low cost.
请参阅图11，可选的，该第二摆动关节103的驱动器为线性驱动器103A，例如该线性驱动器103A为电动推杆。可选的，该线性驱动器103A为伸缩式液压缸Referring to FIG. 11 , optionally, the driver of the second swing joint 103 is a linear driver 103A, for example, the linear driver 103A is an electric push rod. Optionally, the linear actuator 103A is a telescopic hydraulic cylinder
机械腿中：第一关节部为髋关节；第一连杆即大腿；第二关节部为膝关节；第二连杆即小腿；第三关节部为踝关节；末端执行器为脚。末端执行器即末端用具。大腿即大腿连杆即第一连杆。小腿即小腿连杆即第二连杆。In the mechanical leg: the first joint part is the hip joint; the first connecting rod is the thigh; the second joint part is the knee joint; the second connecting rod is the lower leg; the third joint part is the ankle joint; the end effector is the foot. The end effector is the end appliance. The thigh is the thigh link, the first link. The shank is the shank link and is the second link.
腿臂融合的机械腿即腿臂融合的肢体机构。该腿臂融合的机械腿中：腿部即肢体；机械腿的基座即肢体的基座；第一关节部还具肩关节功能；大腿还具大臂功能；第二关节部还具肘关节功能；小腿还具小臂功能；第三关节部中部分或全部关节还具腕关节功能；末端执行器还包括取物装置和/或作业工具。用于指定的作业时，该腿臂融合的机械腿作为臂使用。机械臂中：第一关节部即肩关节；第一连杆即大臂；第二关节部即肘关节；机械臂中第二连杆即小臂；第三关节部即腕关节。The mechanical leg of leg-arm fusion is the body mechanism of leg-arm fusion. In the mechanical leg fused with the leg and arm: the leg is the limb; the base of the mechanical leg is the base of the limb; the first joint also has the function of the shoulder joint; the thigh also has the function of the big arm; the second joint also has the function of the elbow function; the lower leg also has the function of the forearm; part or all of the joints in the third joint also have the function of the wrist; the end effector also includes the fetching device and/or working tools. The fused robotic leg of this leg-arm is used as an arm when used for a specified task. In the robotic arm: the first joint is the shoulder joint; the first link is the arm; the second joint is the elbow; the second link in the robotic arm is the forearm; the third joint is the wrist.
如图1至图5所示设备：每条该机械腿02的末端可设置一或两个滚轮106。滚轮106连接于机械腿02的小腿104的末端，且更具体的，滚轮106连接于机械腿02的小腿104的末端的第三关节部中第一末端旋转用的关节1051的输出件。该第一末端旋转用的关节1051还用于驱动所连接的滚轮106转向。至少两条机械腿02的末端的滚轮106连接驱动器。该驱动器用于驱动该滚轮使该设备沿路面行驶。为了节能和优化结构或力学布局，该滚轮直径或重量小于滚动式行走机构中行走轮。Equipment as shown in FIGS. 1 to 5 : one or two rollers 106 can be provided at the end of each mechanical leg 02 . The roller 106 is connected to the end of the lower leg 104 of the mechanical leg 02 , and more specifically, the roller 106 is connected to the output member of the first end rotating joint 1051 in the third joint part of the lower leg 104 of the mechanical leg 02 . The joint 1051 for the rotation of the first end is also used to drive the connected roller 106 to turn. The rollers 106 at the ends of at least two mechanical legs 02 are connected to the drives. The driver is used to drive the roller to make the device run along the road. In order to save energy and optimize the structure or mechanical layout, the diameter or weight of the roller is smaller than that of the traveling wheel in the rolling traveling mechanism.
该滚轮106的方案还可参考图11。The solution of the roller 106 can also refer to FIG. 11 .
在未转向时：多条机械腿02步行的方向与滚动式行走机构57的行驶方向一致。When not turning: the walking direction of the plurality of mechanical legs 02 is consistent with the traveling direction of the rolling traveling mechanism 57 .
当多条机械腿02离地时，该滚动式行走机构能使该设备沿路面行驶。当机械腿02撑地时，该机械腿02的下表面能低于滚动式行走机构57的下表面。When the plurality of mechanical legs 02 are off the ground, the rolling traveling mechanism can make the device travel along the road. When the mechanical leg 02 stands on the ground, the lower surface of the mechanical leg 02 can be lower than the lower surface of the rolling walking mechanism 57 .
如图2所示设备有6腿，除上述四腿之外还包括第一侧的中部的腿023L、第二侧的中部的腿023R。As shown in FIG. 2, the device has 6 legs, in addition to the above four legs, it also includes the middle leg 023L on the first side and the middle leg 023R on the second side.
本文中，步行指交替步行。交替步行指以多条机械腿02交替撑地和离地方式的步行。多条机械腿02中每一条机械腿均会交替的撑地和离地。交替的撑地和离地指在第一时间段内撑地和在不同与第一时间段的第二时间段内离地。且该撑地和离地会重复的循环进行。具体的，每一条机械腿撑地 和离地的控制属于步态控制范畴。步态控制可参考背景技术中现有技术进行，本文不再复述。本文中，步行指多腿交替步行。步行不同于跳跃和挪动。例如蛇在地面游动、机器沿地面滑动挪动、人在地面滚动均不属于步行。步行特指人或四足动物多腿交替式步行。步行时每条腿必然会交替的撑地和摇摆离地。多腿交替步行指至少两条腿交叉替换撑地式步行。交替即交替的撑地和离地。多腿交替步行即多腿交替撑地式步行。本文中，任一处该腿即机械腿。水中推进装置为螺旋桨或能执行划水动作的机械腿。Herein, walking refers to alternating walking. Alternate walking refers to walking with a plurality of mechanical legs 02 alternately supporting and lifting off the ground. Each mechanical leg in the plurality of mechanical legs 02 will support and lift off the ground alternately. Alternating touchdown and liftoff refers to touchdown and liftoff during a first period of time and liftoff during a second period of time different from the first period of time. And the ground support and lift off will repeat the cycle. Specifically, each mechanical leg supports the ground The control of lift and lift belongs to the category of gait control. The gait control can be performed with reference to the prior art in the background art, and will not be repeated herein. Herein, walking refers to multi-leg alternating walking. Walking is different from jumping and moving. For example, snakes swimming on the ground, machines sliding along the ground, and people rolling on the ground are not walking. Walking refers specifically to the walking of humans or quadrupeds with alternating legs. Each leg must alternately hold and swing off the ground while walking. Multi-legged walking refers to walking with at least two legs crossed instead of on the floor. Alternate that is, alternately hold and lift off the ground. Alternate multi-leg walking is multi-leg alternate ground-supporting walking. In this paper, the leg at any place is the mechanical leg. The underwater propulsion device is a propeller or a mechanical leg capable of performing a stroke.
机械腿02连接于机架01，指该机械腿的基座连接于机架01。腿部即大腿102和小腿104。腿部旋转指大腿102和小腿104旋转。腿部旋转尤其指大腿102旋转。The mechanical leg 02 is connected to the frame 01 , which means that the base of the mechanical leg is connected to the frame 01 . The legs are the thigh 102 and the calf 104 . Leg rotation refers to rotation of the upper leg 102 and lower leg 104 . Leg rotation refers in particular to thigh 102 rotation.
多腿交替撑地式步行即多腿交替步行。多腿交替步行等同于多腿交替撑地式步行。机械腿的基座指该机械腿所包括的该第一关节部101所包括的第一个关节的基座。机械腿的末端即该机械腿所含的小腿104的末端。Alternate multi-leg walking is multi-leg alternating walking. Walking with alternating legs is equivalent to walking with alternating legs. The base of the mechanical leg refers to the base of the first joint included in the first joint part 101 included in the mechanical leg. The end of the mechanical leg is the end of the lower leg 104 included in the mechanical leg.
13、该腿臂融合的机械腿的末端设置有用于连接作业工具的连接部。该连接为安装和/或抓取。若连接为安装，该连接部为安装部。13. The end of the leg-arm fused mechanical leg is provided with a connecting part for connecting a working tool. The connection is install and/or fetch. If the connection is installation, the connection portion is the installation portion.
可选的，如实施例1所述设备，该用于连接作业工具17的连接部为抓取装置06。该连接为抓取。Optionally, as in the equipment described in Embodiment 1, the connecting part for connecting the working tool 17 is the grabbing device 06 . This connection is fetched.
该腿臂融合的机械腿的末端具有用于连接抓取装置06的连接部或具有用于连接作业工具的连接部，该抓取装置06构造为具有抓取作业工具17进行指定的作业的能力。The end of the fused robotic leg has a connection portion for connecting to a grasping device 06 configured to have the ability to grasp a working tool 17 for a specified operation or has a connection portion for connecting a work tool .
请参阅图10、图11：进一步的，该抓取装置06包含：用于取物的线性移动机构06_2，该线性移动机构06_2一端连接所述腿臂融合的机械腿的末端，另一端连接用于钩物体的钩06_3，该线性移动机构06_2用于驱动该钩06_3直线运动以抓取物体或释放物体。该物体为该作业工具17或作业对象或作业物料。Please refer to Fig. 10 and Fig. 11: Further, the grasping device 06 includes: a linear movement mechanism 06_2 for picking up objects, one end of the linear movement mechanism 06_2 is connected to the end of the mechanical leg for leg-arm fusion, and the other end is connected to the For the hook 06_3 that hooks the object, the linear movement mechanism 06_2 is used to drive the hook 06_3 to move linearly to grab the object or release the object. The object is the work tool 17 or work object or work material.
可选的，机械腿的末端为该机械腿的第二末端旋转用的关节1053的输出件。Optionally, the end of the mechanical leg is the output member of the joint 1053 for the rotation of the second end of the mechanical leg.
该线性移动机构06_2驱动钩06_3沿该线性移动机构的运动轴线向外运动以释放外部物体。该线性移动机构06_2驱动该钩06_3沿该线性移动机构的运动轴线向内运动以抓取外部物体。该向外可参考附图中OUT图标所指方向。该向内可参考附图中IN图标所指方向。该取物装置06可用于本文中任一方案中。The linear movement mechanism 06_2 drives the hook 06_3 to move outward along the movement axis of the linear movement mechanism to release external objects. The linear movement mechanism 06_2 drives the hook 06_3 to move inward along the movement axis of the linear movement mechanism to grab external objects. For the outward direction, please refer to the direction indicated by the OUT icon in the attached figure. The inward direction can refer to the direction indicated by the IN icon in the attached drawing. The fetching device 06 can be used in any scheme herein.
可选的，用于取物的线性移动机构06_2为电动推杆或为丝杠机构或伸缩式液压缸或伸缩式气缸。本实施例1中为电动推杆。该钩06_3为金属钩，且该钩06_3的尺寸设为与作业工具17相适配，例如钩顶的圆弧半径设为3厘米。Optionally, the linear moving mechanism 06_2 for picking up objects is an electric push rod or a screw mechanism or a telescopic hydraulic cylinder or a telescopic air cylinder. In the present embodiment 1, it is an electric push rod. The hook 06_3 is a metal hook, and the size of the hook 06_3 is set to be compatible with the working tool 17, for example, the radius of the arc at the top of the hook is set to 3 cm.
14.可选的，如实施例1所述的可移动的设备，该指定的作业包括以从人员下方托住人员的方式搬运人员、带动该机械腿02末端所连接的作业工具17以抓取连接人员的柔性物体的方式搬运人员、切割物体、挖掘或铲物、采摘物品、耕种、涂刷物品、取砖垒墙、焊接物品、旋转紧固件以安装或拆卸物品、喷射物体中任一种。指定的作业即特定的作业。指定即特定。指定等同于特定。14. Optionally, for the mobile device as described in Embodiment 1, the specified operation includes carrying the person in a manner of supporting the person from below the person, driving the working tool 17 connected to the end of the mechanical leg 02 to grab Moving people by means of flexible objects attached to people, cutting objects, digging or shoveling objects, picking objects, tilling, painting objects, taking bricks to build walls, welding objects, rotating fasteners to install or remove objects, spraying objects any kind. A specified job is a specific job. To specify is to specify. Specifying is equivalent to specifying.
可选的，用于切割物体的作业工具17为刀或锯或切割机。Optionally, the working tool 17 for cutting objects is a knife or a saw or a cutting machine.
可选的，用于挖掘或铲物的作业工具17为铲。Optionally, the working tool 17 for digging or shoveling is a shovel.
多个作业工具17既可连接于同一条机械腿的末端，也可分别连接于多条机械腿的末端。Multiple operating tools 17 can be connected to the end of the same mechanical leg, or can be connected to the ends of multiple mechanical legs respectively.
15.可选的，上述任一项所述的可移动的设备，该可移动的设备在作业时，该机架01的姿态既能为第一卧姿也能为立姿。可选的该立姿为第一立姿或第二立姿。附图中，图1至图9所示设备均为第一卧姿。图16和图17所示设备为第一立姿。图18所示设备为第二卧姿也即仰卧。15. Optionally, for the mobile device described in any one of the above items, when the mobile device is in operation, the posture of the frame 01 can be either the first prone position or the standing position. The optional standing posture is the first standing posture or the second standing posture. In the accompanying drawings, the devices shown in Figures 1 to 9 are all in the first prone position. The device shown in Figures 16 and 17 is in a first standing position. The device shown in Figure 18 is the second lying position, ie supine.
可选的，上述任一项所述的可移动的设备中该机械腿02的末端设置有用于撑地的脚掌106A。Optionally, the end of the mechanical leg 02 in any of the movable devices described above is provided with a foot 106A for supporting the ground.
可选的，上述任一项所述的可移动的设备中该机械腿02的末端设置有用于沿路面滚动的滚轮。Optionally, the end of the mechanical leg 02 in any of the mobile devices described above is provided with rollers for rolling along the road.
可选的，上述任一项所述的可移动的设备中该机械腿02设置有用于给该作业工具供电的供电部件，该供电部件的一端连接设置于该机架01的电源，该供电部件的一端用于连接该作业工具。Optionally, in the movable device described in any one of the above, the mechanical leg 02 is provided with a power supply component for supplying power to the working tool, one end of the power supply component is connected to the power supply provided on the frame 01, and the power supply component One end is used to attach the work tool.
例如，供电部件可为电源接口和/或导线。该电源接口为可插拔式，以为作业工具供电。该导线一端连接该电源接口另一端连接该机架01的电池。For example, the power supply component can be a power interface and/or a wire. The power connector is pluggable to power the work tool. One end of the wire is connected to the power interface and the other end is connected to the battery of the frame 01 .
可选的，上述任一项所述的可移动的设备的顶部115通过第五升降机构1315连接机架01使该顶部115相对于该机架01能升降和/或该顶部115设置有滚轮。Optionally, the top 115 of any one of the above movable devices is connected to the frame 01 through the fifth lifting mechanism 1315 so that the top 115 can be lifted relative to the frame 01 and/or the top 115 is provided with rollers.
可选的，上述任一项所述的可移动的设备构造为能载成年人行驶。该设备的机架或其相关部件(例如坐具117)在结构上设计为可承受标准的预设(例如100KG)的力。Optionally, the mobile device described in any one of the above is configured to be able to carry an adult to travel. The frame of the device or its related parts (such as the seat 117 ) is structurally designed to withstand a standard preset (such as 100KG) force.
可选的，上述任一项所述的可移动的设备还包括载人舱11。Optionally, the mobile device described in any one of the above further includes a manned cabin 11 .
可选的，上述任一项所述的可移动的设备为车。 Optionally, the mobile device described in any one of the above items is a cart.
可选的，上述任一项所述的可移动的设备还包括连接于该机架01的水中推进装置09，该水中推进装置09配置为能驱动该可移动的设备在水中行驶；和/或，该可移动的设备在水中所产生的浮力不小于该可移动的设备的重力或该可移动的设备为船。水中推进装置09为螺旋桨。或可选的，水中推进装置09为喷水推进器。Optionally, the mobile device described in any one of the above further includes an underwater propulsion device 09 connected to the frame 01, and the underwater propulsion device 09 is configured to drive the mobile device to travel in water; and/or , the buoyancy generated by the movable device in the water is not less than the weight of the movable device or the movable device is a boat. The underwater propulsion device 09 is a propeller. Or optionally, the underwater propulsion device 09 is a water jet propeller.
16.一种如实施例1或基于实施例1的任一可选方案所述的可移动的设备的控制方法1包括步骤：16. A control method 1 for a mobile device as described in Embodiment 1 or any alternative solution based on Embodiment 1 includes steps:
获取作业的种类信息：Get job type information:
若作业的种类为以从人员下方托住人员的方式搬运人员则执行步骤S1，If the type of operation is to carry the personnel by holding the personnel from below, step S1 is performed,
若作业的种类为以抓取连接人员的柔性物体的方式搬运人员则执行步骤S2，If the type of operation is to carry the personnel by grabbing the flexible objects connected to the personnel, step S2 is performed,
若作业的种类为切割物品则执行步骤S3，If the type of operation is cutting objects, step S3 is performed,
若作业的种类为挖掘或铲物则执行步骤S4，If the type of operation is excavation or shoveling, step S4 is performed,
若作业的种类为采摘物品则执行步骤S5，If the type of operation is picking items, step S5 is performed,
若作业的种类为耕种则执行步骤S6，If the type of operation is farming, step S6 is performed,
若作业的种类为涂刷物品则执行步骤S7，If the type of operation is painting objects, step S7 is performed,
若作业的种类为取砖垒墙则执行步骤S8，If the type of operation is to take bricks and build walls, step S8 is performed,
若作业的种类为焊接物品则执行步骤S8，If the type of operation is a welding item, step S8 is performed,
若作业的种类为旋转紧固件以安装或拆卸物品则执行步骤S9，If the type of operation is to rotate the fastener to install or disassemble the article, then perform step S9,
若作业的种类为喷射物体则执行步骤S10，If the type of operation is to spray objects, step S10 is performed,
若作业的种类为通过该腿臂融合的机械腿沿外部物体攀爬则执行步骤S11，If the type of operation is to climb along the external object through the mechanical leg fused with the leg arm, then perform step S11,
若作业的种类为步行则执行步骤S12；If the type of operation is walking, step S12 is performed;
若作业的种类为通过腿协助履带式行走机构07行驶则执行步骤S13；If the type of operation is to assist the crawler-type traveling mechanism 07 to travel by the legs, step S13 is performed;
S1：先将该腿臂融合的机械腿的活动部件放置于待搬运人员的下方托住人员再使该人员升降和/或平移，该活动部件指该腿臂融合的机械腿的大腿102和/或小腿104和/或该小腿104的末端的关节和/或该腿臂融合的机械腿的末端所连接的工具；S1: First place the movable part of the mechanical leg fused with the leg and arm under the person to be transported to support the person and then lift and/or translate the person. The movable part refers to the thigh 102 and/or of the mechanical leg fused with the leg and arm or the lower leg 104 and/or the joint at the end of the lower leg 104 and/or the tool to which the end of the leg-arm fusion robotic leg is attached;
S2：控制该腿臂融合的机械腿带动该机械腿的末端所连接的末端执行器以抓取连接人员的柔性物体的方式搬运人员，该末端执行器为抓取装置06；S2: The mechanical leg that controls the fusion of the leg and arm drives the end effector connected to the end of the mechanical leg to carry the person by grabbing the flexible object connected to the person. The end effector is the grabbing device 06;
S3：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具切割物品，该作业工具为刀或锯或切割机；S3: The mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to cut objects, and the working tool is a knife or a saw or a cutting machine;
S4：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具挖掘或铲物，该作业工具为铲；S4: The mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to excavate or shovel, and the working tool is a shovel;
S5：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具采摘物品，该采摘物品为摘菜或采摘水果或采摘棉花或拔植株或拔草，该植株为菜类植株、树类植株、秧苗、中药类植株中任一种或任意多种，该作业工具为采摘器；S5: The mechanical leg that controls the fusion of the leg and arm drives the operation tool connected to the end of the mechanical leg to pick items. The picked items are vegetable picking or fruit picking or cotton picking or pulling plants or weeds. The plants are vegetable plants, Any one or more of tree plants, seedlings, and traditional Chinese medicine plants, and the operating tool is a picker;
S6：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具耕种，该耕种指锄地或插苗，该锄地用的作业工具为锄，该插苗用的作业工具为插苗器；S6: The mechanical leg that controls the fusion of the leg and arm drives the operation tool connected to the end of the mechanical leg to cultivate. The cultivation refers to hoeing or planting. The working tool for hoeing is a hoe, and the working tool for planting is seedling inserter;
S7：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具，将该作业工具携带的作业物料涂刷至作业对象，该作业工具为涂刷工具，该作业物料为漆或颜料或粉或浆，该作业对象指待涂刷的墙或地面或设备表面；S7: The mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg, and paints the working material carried by the working tool to the working object. The working tool is a brushing tool, and the working material is paint or Pigment or powder or paste, the operation object refers to the wall or floor or equipment surface to be painted;
S8：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具取砖垒墙，该作业工具为抓取部件；S8: The mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to pick up bricks and build walls, and the working tool is a grabbing component;
S9：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具焊接物品，该作业工具为焊接工具；S9: The mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to weld objects, and the working tool is a welding tool;
S9：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具旋转紧固件以安装或拆卸物品，该作业工具为抓取部件或该作业工具为用于套接该紧固件的扳手或螺丝刀；S9: The mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to rotate the fastener to install or remove the object, the working tool is a grabbing part or the working tool is used to socket the fastening wrench or screwdriver;
S10：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具喷射物体，该物体为药或漆或粉或浆或灭火物质，该作业工具为喷射器；S10: The mechanical leg that controls the fusion of the leg and arm drives the working tool connected to the end of the mechanical leg to spray an object, the object is medicine or paint or powder or slurry or a fire extinguishing substance, and the working tool is a sprayer;
S11：控制该腿臂融合的机械腿带动该腿臂融合的机械腿末端连接的作业工具抓住高于该设备的机架01的外部物体使该设备沿该外部物体攀爬。S11: Control the mechanical leg of the leg-arm fusion to drive the working tool connected to the end of the mechanical leg of the leg-arm fusion to grab the external object higher than the frame 01 of the device to make the device climb along the external object.
S12：控制该腿臂融合的机械腿使该可移动的设备沿路面步行；S12: controlling the mechanical leg of the leg-arm fusion to make the movable device walk along the road;
S13：在该可移动的设备通过该履带式行走机构07行驶将从平路进入下倾路段时，控制位于该机架01的第二端的机械腿02使该机械腿02在该平路抵地,以使该履带式行走机构07的后部抬高； 和/或，在该可移动的设备通过该履带式行走机构07行驶从上倾路段进入平路且该履带式行走机构中履带07还处于后倾状态时，控制位于该机架01的第二端的机械腿02使该机械腿02在该上倾路段抵地,以减小该履带式行走机构07的倾斜角度。S13: When the movable equipment travels through the crawler-type traveling mechanism 07 and enters a downhill section from a flat road, control the mechanical leg 02 located at the second end of the frame 01 so that the mechanical leg 02 reaches the ground on the flat road , so that the rear portion of the crawler-type traveling mechanism 07 is raised; And/or, when the movable equipment travels through the crawler-type traveling mechanism 07 and enters a flat road from an uphill road section and the crawler belt 07 in the crawler-type traveling mechanism is still in a backward tilting state, control the second device located on the frame 01 The mechanical leg 02 at the end makes the mechanical leg 02 touch the ground in the uphill section, so as to reduce the inclination angle of the crawler-type traveling mechanism 07.
指定的作业即特定的作业。指定即特定。指定等同于特定。A specified job is a specific job. To specify is to specify. Specifying is equivalent to specifying.
可选的，该控制方法1，在该进行指定的作业之前包括步骤Z0：获取作业对象的位姿信息或获取目标空间的方位信息。Optionally, the control method 1 includes step Z0 before performing the specified operation: obtaining pose information of the work object or obtaining orientation information of the target space.
可选的，该控制方法1，在该进行指定的作业之前包括步骤Z10：控制肢体机构由该肢体机构带动该肢体机构末端所连接的作业工具，使该作业工具由该作业工具的当前位姿运动至作业位姿。Optionally, the control method 1 includes step Z10 before performing the specified operation: controlling the limb mechanism to drive the working tool connected to the end of the limb mechanism so that the working tool is changed from the current pose of the working tool Move to working position.
可选的，该控制方法1，在该进行指定的作业之前包括步骤Z20：控制肢体机构运动和/或控制该肢体机构的末端所连接作业工具动作，以装载或抓取作业物料。Optionally, the control method 1 includes step Z20 before performing the specified operation: controlling the movement of the limb mechanism and/or controlling the action of the working tool connected to the end of the limb mechanism to load or grab the working materials.
控制腿臂融合的机械腿即控制腿臂融合的机械腿运动。末端所连接的作业工具即连接于末端的作业工具。获取作业的种类信息，例如为控制装置通过通讯模块或人机界面接收人工下达的指令，该指令包含作业的种类信息、作业的启动和停止指令。The mechanical leg controlling the leg-arm fusion is the movement of the mechanical leg controlling the leg-arm fusion. The work tool attached to the end is the work tool attached to the end. Obtaining the type information of the job, for example, the control device receives a manual instruction through the communication module or the human-machine interface, and the instruction includes the type information of the job, start and stop instructions of the job.
腿臂融合的机械腿构造为具有用于指定的作业和用于步行的能力、属性。该腿臂融合的机械腿的内部结构特性满足该两种需求，该腿臂融合的机械腿非普通的机械腿。在用于步行的场合，该腿臂融合的机械腿具有机械腿的特征和能力。且该腿臂融合的机械腿构造为能实现手臂的功能。实现手臂的功能也称为作为手臂使用。在用于指定的作业的场合，该腿臂融合的机械腿作为手臂使用，也即具有手臂的功能。配置也称为构造。配置为也称为构造为。配置等同构造。同一硬体，实现不同的功能，对成本节约、性能提高有巨大的好处。The leg-arm fused robotic leg is configured to have capabilities, attributes for assigned tasks and for walking. The internal structural characteristics of the mechanical leg fused with the leg and arm meet the two requirements, and the mechanical leg with the fused leg and arm is not an ordinary mechanical leg. In the case of walking, the leg-arm fusion mechanical leg has the characteristics and capabilities of a mechanical leg. And the mechanical leg of the leg-arm fusion is configured to realize the function of the arm. Realizing the function of an arm is also referred to as using as an arm. When used for a specified operation, the mechanical leg of the leg-arm fusion is used as an arm, that is, it has the function of an arm. Configuration is also known as construction. Configured As is also known as Constructed As. Configure equivalent constructs. The same hardware can realize different functions, which is of great benefit to cost saving and performance improvement.
该腿臂融合的机械腿构造为能承载该腿臂融合的机械腿进行指定的作业所产生的作用力。The leg-arm fused mechanical leg is configured to bear the force generated by the leg-arm fused mechanical leg performing a specified operation.
可移动的设备进行指定的作业时，相应的，控制装置用控制手臂运动的方法控制该腿臂融合的机械腿动作。控制装置给该腿臂融合的机械腿的关节的驱动器所发出的驱动指令，均为用于驱动手臂运动的指令。When the movable equipment performs the specified operation, correspondingly, the control device controls the movement of the mechanical leg of the leg-arm fusion by controlling the movement of the arm. The driving instructions issued by the control device to the driver of the joint of the mechanical leg of the leg-arm fusion are all instructions for driving the arm to move.
当该腿臂融合的机械腿用于步行时，该腿臂融合的机械腿作为机械腿使用，相应的，控制装置控制该腿臂融合的机械腿的方法均为控制(普通)机械腿运动的方法。控制装置给该腿臂融合的机械腿的关节的驱动器所发出的驱动指令，均为用于驱动(普通)腿臂融合的机械腿运动的指令。该第三关节部105中部分关节或全部关节作为踝关节部使用或具有踝关节部的功能。机械腿也可无踝关节部和无脚掌，由小腿的末端着地行走。When the mechanical leg of the leg-arm fusion is used for walking, the mechanical leg of the leg-arm fusion is used as a mechanical leg. Correspondingly, the method of controlling the mechanical leg of the leg-arm fusion is to control the movement of the (ordinary) mechanical leg. method. The driving instructions issued by the control device to the driver of the joint of the mechanical leg of the leg-arm fusion are all instructions for driving the movement of the (ordinary) mechanical leg of the leg-arm fusion. Some or all of the joints in the third joint part 105 are used as ankle joints or have the function of ankle joints. The mechanical legs can also have no ankle joints and no feet, and walk on the ground by the end of the lower leg.
(一)、腿臂融合的机械腿进行作业的实施方案的概述：(1) An overview of the implementation plan for the operation of the mechanical leg with the fusion of the leg and the arm:
作业工具的类型与作业的种类对应。任一指定的作业的名称后是否加“作业”名词均指同一内容。例如：切割物品的作业也可称为切割物品。挖掘作业也称为挖掘。铲物作业也称为铲物。The type of work tool corresponds to the kind of work. Whether or not to add the term "job" after the name of any specified job refers to the same content. For example: the operation of cutting items can also be called cutting items. Excavation operations are also known as digging. Shoveling is also called shoveling.
任一种作业，都有与该作业种类相应的作业要素。该作业要素为控制方法、作业对象、作业工具或作业位置。方法即规律，方法包括逻辑和/或算法。该规律中包括运动参数的规划和状况参数的获取与监控。规划也即目标值设定。运动参数包括运动的目标方位和/或运动路径和/或运动速度和/或角度和/或姿态和/或力和/或力矩。运动参数尤其指运动的目标方位和/或运动路径。可选的，运动参数的设定可由人工设定或由控制装置设定。状况参数的获取尤其指通过传感器采集。带动该腿臂融合的机械腿末端连接的作业工具，也称为调整该腿臂融合的机械腿末端连接的作业工具的位姿。任一作业，基于作业对象所在位置、可移动的设备自身位姿、作业工具(大小、运动路径)，就能得出作业区域。For any kind of work, there are work elements corresponding to the kind of work. The operation element is a control method, an operation object, an operation tool or an operation location. A method is a law, and a method includes logic and/or algorithm. The law includes the planning of motion parameters and the acquisition and monitoring of status parameters. Planning is also target value setting. The motion parameters include motion target orientation and/or motion path and/or motion speed and/or angle and/or posture and/or force and/or moment. The motion parameters refer in particular to the target orientation and/or the motion path of the motion. Optionally, the setting of motion parameters can be set manually or by a control device. Acquisition of status parameters refers in particular to acquisition by sensors. The operation tool connected to the end of the mechanical leg that drives the fusion of the leg and arm is also referred to as adjusting the pose of the operation tool connected to the end of the mechanical leg of the fusion of the leg and arm. For any operation, the operation area can be obtained based on the location of the operation object, the pose of the movable equipment itself, and the operation tools (size, motion path).
任一作业，其作业工具、作业对象、作业工具与作业对象是否需要接触和作业位姿等任一作业要素，均可由现有公知技术得知。通常，在没有限定说明时，默认作业种类为作业工具与作业对象需接触的类型。不同的是，本文发明点为用腿作业。比用手作业更有益处。For any operation, any operation elements such as the operation tool, the operation object, whether the operation tool and the operation object need to be in contact, the operation posture, etc., can be known from the existing known technology. Usually, when there is no limitation, the default operation type is the type that the operation tool and the operation object need to contact. The difference is that the point of this invention is to work with legs. More beneficial than working by hand.
任一作业中，若该作业的作业工具为抓取部件。该抓取部件(的尺寸、型号或规格)构造为与该作业中待抓取的物体(的尺寸、型号或规格)相对应。抓取包括夹持、握、勾、挂、吸附中至少一种。可选的，抓取部件为多指关节的机械手或卡爪或钩。可选的，或抓取部件为电磁吸盘。作业工具即用于指定的作业的工具。工具也称为用具。In any operation, if the operation tool of this operation is a grabbing part. The grasping component (size, model or specification) is configured to correspond to the object (size, model or specification) to be grasped in the operation. Grasping includes at least one of clamping, gripping, hooking, hanging and adsorption. Optionally, the grasping component is a multi-fingered manipulator or claws or hooks. Optionally, or the gripping part is an electromagnetic chuck. A job tool is a tool used for a specified job. Tools are also called utensils.
(二)、用腿臂融合的机械腿进行作业的实施方案的概述：(2), an overview of the implementation plan for the operation of the mechanical leg with the fusion of the leg and arm:
本发明中，任一作业中，任一处该腿臂融合的机械腿用于作业Z或腿臂融合的机械腿进行作业Z，该作业Z的作业的方法、步骤Z均为：控制该腿臂融合的机械腿带动该机械腿的末端所连接的作业工具进行作业。该腿臂融合的机械腿为腿臂融合的机械腿或机械臂。位姿即位置和姿态。 In the present invention, in any operation, the mechanical leg with the leg-arm fusion is used for operation Z or the mechanical leg with the leg-arm fusion performs operation Z, and the operation method and step Z of the operation Z are: control the leg The mechanical legs with fused arms drive the working tools connected to the ends of the mechanical legs to perform operations. The mechanical leg of the leg-arm fusion is the mechanical leg or the mechanical arm of the leg-arm fusion. Pose is position and posture.
控制腿臂融合的机械腿带动该机械腿的末端所连接的作业工具进行作业，即控制腿臂融合的机械腿由该机械腿带动该机械腿末端连接的作业工具进行作业。控制腿臂融合的机械腿带动该机械腿的末端所连接的作业工具即：控制腿臂融合的机械腿由该机械腿带动该机械腿末端连接的作业工具。The mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg to perform operations, that is, the mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg to perform operations. The mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg, that is: the mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg.
作业包括带动该作业工具处理作业对象的作业、将作业物料投放至目标空间的作业。该用作业工具处理作业对象的作业也称为第一类作业。该处理也称为加工。The job includes the job of driving the job tool to process the job object, and the job of putting the job material into the target space. The job that uses the job tool to process the job object is also referred to as the first type of job. This treatment is also called processing.
该第一类作业为搬运人员、切割物品、挖掘或铲物、耕地、采摘物品、焊接、旋转紧固件以安装或拆卸物品。该第一类作业的作业步骤为步骤Z11。可选的，在该步骤Z11之前还可执行步骤Z10。This first category of operations is moving people, cutting objects, digging or shoveling objects, plowing, picking objects, welding, turning fasteners to install or remove objects. The operation step of the first type of operation is step Z11. Optionally, step Z10 may also be executed before step Z11.
Z10：控制腿臂融合的机械腿带动该机械腿的末端所连接的作业工具，使该作业工具由该作业工具的当前位姿运动至作业位姿。Z10: The mechanical leg that controls the fusion of the legs and arms drives the working tool connected to the end of the mechanical leg, so that the working tool moves from the current pose of the working tool to the working pose.
Z11为：控制腿臂融合的机械腿带动该机械腿的末端所连接的作业工具处理作业对象。Z11 is: the mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg to process the working object.
例如：该处理作业对象为搬运人员、切割物品、挖掘或铲物、锄地、采摘物品、焊接物品、旋转紧固件。耕种指锄地或插苗。作业工具即用于处理的工具。作业对象即待处理的物品。For example: the object of the processing operation is moving people, cutting objects, digging or shoveling objects, hoeing, picking objects, welding objects, and rotating fasteners. Cultivation refers to hoeing or transplanting seedlings. A job tool is a tool used for processing. Job objects are items to be processed.
该作业位姿即第一作业位姿即第一目标位姿。该第一目标位姿即作业工具进入作业区时的位姿。在该处理过程中，该作业工具位于作业区内。作业区指用作业工具处理作业对象的区域。作业区也称为作业位置。在该处理过程中，作业工具从第一目标位姿运动至第二目标位姿。该第二目标位姿即作业终止的位姿。在该处理过程中，该作业工具的加工部位与作业对象相接触。例如，作业种类为切割物品，该作业的作业工具为含刃的工具，该加工部位即刃。The working pose is the first working pose, which is the first target pose. The first target pose is the pose when the working tool enters the work area. During this process, the work tool is located within the work area. The work area refers to the area where work objects are processed with work tools. The working area is also called the working location. During this process, the work tool moves from the first target pose to the second target pose. The second target pose is the pose at which the job ends. During this process, the processing portion of the work tool is in contact with the work object. For example, the type of operation is cutting an article, the working tool for this operation is a tool with a blade, and the processing part is the blade.
将作业物料投放至目标空间的作业即第二类作业。第二类作业中，作业物料由作业工具装载或携带。目标空间也称为待投放的空间。目标空间即目标物体所在的空间。目标空间也可指目标物体。The operation that puts the operation materials into the target space is the second type of operation. In the second type of work, work materials are loaded or carried by work tools. The target space is also called the space to be released. The target space is the space where the target object is located. A target space may also refer to a target object.
切割、挖掘或铲物的实施方案该作业的方式为：控制腿臂融合的机械腿带动该机械腿的末端所连接的作业工具切割作业对象。该作业工具为刀或锯或切割机。Embodiments of cutting, digging or shoveling. The operation method is as follows: the mechanical leg that controls the fusion of the legs and arms drives the working tool connected to the end of the mechanical leg to cut the work object. The working tool is a knife or a saw or a cutting machine.
该切割物品为收割中药材、收割庄稼、割草、剪枝或砍树。庄稼指稻子和/或麦子和/或玉米。砍树优选为锯树。The cutting object is harvesting Chinese herbal medicines, harvesting crops, mowing grass, pruning branches or cutting trees. Crops refer to rice and/or wheat and/or corn. The felling of trees is preferably sawing.
用于收割中药材、收割庄稼、割草的作业工具为刀或锯。该作业的作业对象为待切割的中药材、庄稼或草。用于剪枝的作业工具为刀。该作业的作业对象为待剪的枝。用于砍树的作业工具为刀。该作业的作业对象为待砍的树。用于锯树的作业工具为锯、水刀、激光切割机或电动砂轮切割机。该作业的作业对象为待锯的树。The operating tools used for harvesting Chinese herbal medicines, harvesting crops, and mowing grass are knives or saws. The operation object of this operation is Chinese medicinal materials, crops or grasses to be cut. The work tool used for pruning is a knife. The job object of this job is the branch to be pruned. The work tool used for cutting trees is a knife. The job object of this job is the tree to be cut. Work tools for sawing trees are saws, water jets, laser cutters or electric abrasive cutters. The job object of this job is the tree to be sawed.
挖掘的实施：带动该作业工具挖掘作业对象。该作业工具为挖掘工具。该挖掘工具为铲。该作业对象为待挖掘的物品。Implementation of excavation: drive the operation tool to excavate the operation object. The work tool is a digging tool. The digging tool is a shovel. The operation object is the item to be excavated.
铲物的实施：带动该作业工具铲作业对象。该作业工具为铲物工具。该铲物工具为铲。该作业对象为待铲的物品。铲指铲松散物体。铲的载荷、功率比挖掘小。The implementation of shoveling: drive the operation tool to shovel the operation object. The work tool is a shovel tool. The shovel tool is a shovel. The operation object is the item to be shoveled. Shovel refers to shoveling loose objects. The load and power of the shovel are smaller than that of digging.
采摘物品为摘菜或采摘水果或采摘棉花或拔植株或拔草，植株包括菜类植株、树类植株、秧苗、中药类植株中任一种或任意多种。Picking items are picking vegetables or fruits or picking cotton or pulling plants or weeds, and the plants include any one or more of vegetable plants, tree plants, seedlings, and traditional Chinese medicine plants.
采摘物品的实施：带动作业工具采摘作业对象。该作业工具为采摘工具。该作业对象为待采摘的物品。采摘工具为根据待采摘物品所设计的采摘器。例如采摘器为拔草梳、抓果器、拔苗器等。The implementation of picking items: drive the working tools to pick the working objects. The working tool is a picking tool. The operation object is the item to be picked. The picking tool is a picker designed according to the items to be picked. For example, the picker is a weed comb, a fruit grabber, a seedling puller, and the like.
锄地的方案：带动作业工具耕地。该作业工具为锄。该作业对象为待锄的地。The scheme of hoeing: drive the working tools to plow the land. The operation tool is a hoe. The operation object is the land to be hoeed.
焊接的实施：带动作业工具焊接作业对象。该作业工具为焊接工具。该作业对象为待焊接的物品。焊接包括用焊机产生电弧的方式焊接金属件或用烙铁融化锡的方式焊接导电体。用焊机产生电弧的方式焊接金属件，该焊接工具为能产生电弧的电焊机。用烙铁融化锡的方式焊接导电体，该焊接工具为烙铁。The implementation of welding: drive the working tool to weld the working object. The work tool is a welding tool. The job object is the item to be welded. Welding involves welding metal parts by using a welding machine to create an arc or welding electrical conductors by melting tin with a soldering iron. Metal parts are welded by means of a welding machine that generates an arc, and the welding tool is an electric welding machine that can generate an arc. Solder the conductor by melting tin with a soldering iron, and the soldering tool is a soldering iron.
旋转紧固件以安装或拆卸物品的实施：带动作业工具旋转作业对象以安装或拆卸物品。该作业工具为用于套接该紧固件的工具或抓取部件。用于套接该紧固件的工具为扳手或螺丝刀。该作业对象为待旋转的紧固件。The implementation of rotating fasteners to install or remove items: Drive the work tool to rotate the work object to install or remove items. The work tool is a tool or grabber used to socket the fastener. The tool used to socket the fastener is a wrench or a screwdriver. The job object is the fastener to be rotated.
第二类作业为插苗、喷物、涂刷物品或取砖垒墙。The second type of operation is transplanting seedlings, spraying objects, painting objects or taking bricks to build walls.
该第二类作业的作业步骤为Z21。可选的，在该步骤Z21之前还可执行步骤Z20。The operation step of this second type of operation is Z21. Optionally, step Z20 may also be executed before step Z21.
Z20：控制腿臂融合的机械腿运动和/或控制该腿臂融合的机械腿的末端所连接作业工具动作，以装载或抓取作业物料。Z20: Control the movement of the mechanical leg of the leg-arm fusion and/or control the action of the working tool connected to the end of the mechanical leg of the leg-arm fusion, so as to load or grab the working materials.
Z21：控制腿臂融合的机械腿运动，以：将该腿臂融合的机械腿末端连接的作业工具所携带的作业物料投放至目标空间，或将该腿臂融合的机械腿末端连接的作业工具所携带的作业物料处理至作业对象。携带即装载。 Z21: Control the movement of the mechanical leg of the leg-arm fusion, so as to: put the working materials carried by the working tool connected to the end of the mechanical leg of the leg-arm fusion to the target space, or the working tool connected to the end of the mechanical leg of the leg-arm fusion The carried work materials are processed to the work object. Carry and load.
该作业对象即待处理的物品。该目标空间为待投放作业物料的空间。该作业对象位于目标空间内。目标空间即作业对象所在的空间。该投放或处理，包括喷、涂、插、射中任意一种或任意多种。该投放也称为处理。The job object is the item to be processed. The target space is the space of the job materials to be placed. The job object is located in the target space. The target space is the space where the job object is located. The throwing or processing includes spraying, painting, inserting, shooting any one or any combination of them. This delivery is also called a treatment.
该步骤Z21也即：控制腿臂融合的机械腿运动，使该腿臂融合的机械腿末端所连接的且装载或携带有作业物料的作业工具由当前位姿运动至作业位姿，以将该作业物料投放至目标空间。该当前位姿指该作业工具的当前位姿。作业位姿即投放作业物料的位姿。This step Z21 is to control the movement of the mechanical leg of the leg-arm fusion, so that the working tool connected to the end of the mechanical leg of the leg-arm fusion and loaded or carrying the operating material moves from the current posture to the working posture, so that the Job materials are delivered to the target space. The current pose refers to the current pose of the working tool. The job pose is the pose where the job materials are placed.
目标空间即待投放作业物料的空间。作业工具即用于装载作业物料的容器或用于携带作业物料的工具。作业物料即待投放的物料。作业对象即待投放的作业物料。该流程中包括：使该作业工具到达作业位置。The target space is the space where the job materials are to be placed. Work tools are containers used to load work materials or tools used to carry work materials. Job materials are materials to be released. The job object is the job material to be delivered. The process includes: making the working tool arrive at the working position.
该步骤Z10、步骤Z11、步骤Z20、步骤Z21中该运动指按设定的运动参数运动。各步骤中的运动参数可不同。任一任务，均包括：接收任务指令，当接收到作业指令时执行作业步骤S。任一步骤前，还可包括设置该步骤的运动参数的步骤。The motion in the step Z10, step Z11, step Z20, and step Z21 refers to motion according to the set motion parameters. The motion parameters in each step can be different. Any task includes: receiving the task instruction, and executing the operation step S when receiving the operation instruction. Before any step, a step of setting the motion parameters of this step may also be included.
可选的，该腿臂融合的机械腿的末端连接抓取装置06，该作业工具为抓取装置06所抓取的作业工具。可选的，在执行步骤Z前，还包括：获取作业对象的位姿信息或获取目标空间的方位信息；和/或，控制腿臂融合的机械腿和控制该腿臂融合的机械腿的末端所连接抓取装置06抓取作业工具。Optionally, the end of the robotic leg fused with the leg and arm is connected to the grabbing device 06 , and the working tool is the working tool grabbed by the grabbing device 06 . Optionally, before performing step Z, it also includes: obtaining pose information of the work object or obtaining orientation information of the target space; and/or, controlling the mechanical leg for leg-arm fusion and the end of the mechanical leg for controlling the leg-arm fusion The connected grabbing device 06 grabs the work tool.
在上述作业Z可为本文中任一作业。将本文中任一作业替换为上述段落Z中该的作业Z，可得到任一种作业的作业方案。例如，按照本文中段落Z该通用的作业技术方案Z、作业步骤Z，能实现本文中该的任一种腿臂融合的机械腿进行某作业的步骤。The above operation Z can be any operation in this paper. Replace any operation in this article with the operation Z in the above paragraph Z, and the operation scheme of any operation can be obtained. For example, according to the general operation technical scheme Z and operation step Z in paragraph Z of this article, any step of performing a certain operation with the mechanical leg of any kind of leg-arm fusion mentioned in this article can be realized.
搬运人员物品的实施方案：搬运人员或存取物品，均可称为搬运人员物品。搬运人员物品，指将人员物品由原位置移动至目标位置。该移动包括升降和/或平移。人员物品指人员和/或物品。搬运人员或存取物品，该作业可选第一类作业的方式。该作业的方式为：带动该作业工具搬运作业对象。该作业工具为抓取部件。该作业对象为待搬运的人员或物品。The implementation plan of moving personnel and articles: moving personnel or accessing articles can be called moving personnel and articles. Moving personnel and objects refers to moving personnel and objects from the original position to the target position. This movement includes lifting and/or translation. Person Item refers to a person and/or item. Moving people or accessing items, this operation can be done in the first type of operation. The operation method is: driving the operation tool to carry the operation object. The working tool is a grabbing part. The operation object is the person or item to be transported.
插苗的实施：带动该作业工具将该作业工具所装载的作业物料投放至目标空间。该投放为插。该作业工具为插苗器。该作业物料为苗或抓取装置。该苗为庄稼苗或中药苗或树苗。该目标空间为待插苗的空间。Implementation of seedling insertion: drive the operating tool to drop the operating materials loaded by the operating tool into the target space. This delivery is an interjection. The operating tool is a seedling inserter. The working material is a seedling or a grabbing device. The seedlings are crop seedlings or traditional Chinese medicine seedlings or tree seedlings. The target space is the space to be planted.
涂刷物品或持砖砌墙的实施方案：涂刷物品，该物品为漆或颜料或粉或浆。该作业的方式为：带动该作业工具，将该作业工具携带的作业物料投放至目标空间或将该作业工具携带的作业物料处理至作业对象。该投放或处理均为涂刷。涂刷工具为刷子或滚筒或刮板。该目标空间为待涂刷物品的空间。该作业对象指待涂刷的墙或地面或设备表面。The embodiment of painting articles or holding brick walls: painting articles, the articles are paint or pigment or powder or paste. The operation method is: driving the operation tool, putting the operation material carried by the operation tool into the target space or processing the operation material carried by the operation tool to the operation object. This delivery or treatment is painting. The brushing tool is a brush or a roller or a scraper. The target space is the space of the object to be painted. The job object refers to the wall or ground or equipment surface to be painted.
取砖垒墙的实施：带动该作业工具，将该作业工具携带的作业物料投放至目标空间。该作业工具为抓取部件。该作业物料为砖。该目标空间为待垒墙的空间。垒墙，指：将砖逐个挨边放置、逐层上垒。逐层上垒也即将砖一层层的往上堆。The implementation of taking bricks and building walls: drive the operation tool, and put the operation materials carried by the operation tool into the target space. The working tool is a grabbing part. The job material is brick. The target space is the space to be built. Building a wall refers to placing bricks side by side one by one, and building up the walls layer by layer. Layer by layer means that bricks are piled up layer by layer.
喷物，该物为药或漆或粉或浆或灭火物质。该作业的方式为：带动该作业工具，将该作业工具所装载的作业物料投放至目标空间或将该作业工具装载的作业物料处理至作业对象。该作业工具为喷射器。该作业物料为药或漆或粉或浆。该目标空间为待喷物的空间。该投放和处理为喷射。喷指将加压的待喷射物质喷出。该作业对象指待喷作业物料的物体。例如该作业物料为漆或粉或浆或灭火物质，该物体为墙或地面或设备表面。例如该作业物料为杀害虫的药，该物体为庄稼或菜或植株。例如该作业物料为除草剂，该物体为草。Spray, which is medicine or paint or powder or slurry or fire extinguishing substance. The way of the operation is: drive the operation tool, put the operation material loaded by the operation tool into the target space or process the operation material loaded by the operation tool to the operation object. The working tool is a sprayer. The operating material is medicine or paint or powder or slurry. The target space is the space of objects to be sprayed. This delivery and treatment is jetting. Injection refers to ejecting the pressurized substance to be injected. The operation object refers to an object to be sprayed with an operation material. For example, the working material is paint or powder or slurry or fire extinguishing substance, and the object is wall or ground or equipment surface. For example, the working materials are insecticides, and the objects are crops or vegetables or plants. For example, the working material is a herbicide, and the object is grass.
腿臂融合的机械腿作业的有益效果：例如，在火灾现场烟雾缭绕、建筑物损毁、物体杂乱、路面会有诸多意向不到的障碍物，传统的轮式行驶越障能力差或履带行驶可移动的设备重量过重容易碾压伤害人员，腿臂融合的机械腿式行驶可移动的设备更适合现场。腿臂融合的机械腿用于步行+灭火，替代了传统技术的机械腿步行+机械手(灭火)作业方案，不仅仅直接成本、体积、重量大幅度降低；效率高具有非常重要的社会和经济价值。Beneficial effects of mechanical leg operation with leg-arm fusion: For example, at the scene of a fire, smoke is lingering, buildings are damaged, objects are messy, and there will be many unexpected obstacles on the road. The mobile equipment is too heavy to easily crush and injure personnel, and the mechanical legs with integrated legs and arms can drive mobile equipment more suitable for the scene. The mechanical leg with the fusion of legs and arms is used for walking + fire extinguishing, replacing the traditional technology of mechanical leg walking + manipulator (fire extinguishing) operation scheme, not only the direct cost, volume, and weight are greatly reduced; high efficiency has very important social and economic value .
例如，4机械腿可移动的设备(机器虎),有1-4条腿臂融合的机械腿，在该腿臂融合的机械腿的末端连接有铲物工具。该设备用于铲养殖场的动物粪便。For example, a mobile device with 4 mechanical legs (robot tiger) has 1-4 mechanical legs with fused arms, and a shovel tool is connected to the end of the fused mechanical legs. This equipment is used to shovel animal manure in farms.
例如，4机械腿可移动的设备(机器虎),有4条腿臂融合的机械腿，既能步行，在1条腿臂融合的机械腿的末端连接有收割中药材工具(镰刀)，在1条腿臂融合的机械腿的末端连接有挖掘工具(铲斗)，在另外的2条腿臂融合的机械腿的末端连接有抓取装置(062)，For example, a mobile device with 4 mechanical legs (robot tiger), has 4 mechanical legs with fused arms that can walk, and a tool for harvesting Chinese herbal medicines (sickle) is connected to the end of the fused mechanical leg with 1 leg and arm. A digging tool (bucket) is connected to the end of a mechanical leg with fused arms, and a grabbing device (062) is connected to the end of the mechanical leg with fused arms of the other two legs.
该设备的控制方法：控制1条腿臂融合的机械腿用收割中药材工具(镰刀)收割地上的中药材，控制1条腿臂融合的机械腿挖掘工具(铲)挖地里的药材，控制另外的2条腿臂融合的机械腿用抓 取装置062搬运所采集的药材。4腿臂融合的机械腿配合，能大幅提高采集中药材的效率。The control method of the equipment: control a mechanical leg with a fusion of legs and arms to harvest Chinese medicinal materials on the ground with a tool for harvesting Chinese medicinal materials (sickle), control a mechanical leg with a fusion of legs and dig tools (shovel) to dig the medicinal materials in the ground, control Additional 2-leg-arm-fused robotic leg with gripper The fetching device 062 carries the collected medicinal materials. The combination of mechanical legs with 4 legs and arms can greatly improve the efficiency of collecting Chinese medicinal materials.
17.一种如实施例1或基于实施例1的任一可选方案所述的可移动的设备的控制方法2包括步骤：控制第一侧的机械腿02和/或控制第二侧的机械腿02，使该机架01的姿态在第一卧姿与立姿中切换；该立姿为第一立姿或第二立姿。附图中，图1至图9所示设备均为第一卧姿。图16和图17所示设备为第一立姿。图18所示设备为第二卧姿也即仰卧。如同人手脚撑地能改变姿态，设备即机器人，也可用腿撑地改变姿态。17. A control method 2 for a mobile device as described in Embodiment 1 or any alternative solution based on Embodiment 1 includes the step of: controlling the mechanical leg 02 on the first side and/or controlling the mechanical leg 02 on the second side The legs 02 make the posture of the frame 01 switch between the first lying posture and the standing posture; the standing posture is the first standing posture or the second standing posture. In the accompanying drawings, the devices shown in Figures 1 to 9 are all in the first prone position. The device shown in Figures 16 and 17 is in a first standing position. The device shown in Figure 18 is the second lying position, ie supine. Just as a human being can change its posture with its hands and feet on the ground, the equipment, that is, a robot, can also change its posture with its legs on the ground.
18.可选的，一种如实施例1、实施例2、实施例3所述的可移动的设备的控制方法3包括步骤：18. Optionally, a method 3 for controlling a mobile device as described in Embodiment 1, Embodiment 2, and Embodiment 3 includes steps:
在该可移动的设备通过该履带式行走机构07行驶将从平路进入下倾路段时，控制该第二升降机构222使该第二行走机构522在该平路抵地,以使该履带式行走机构07m的后部抬高；和/或，When the movable equipment travels through the crawler-type walking mechanism 07 and enters a downhill road section from a flat road, the second lifting mechanism 222 is controlled to make the second walking mechanism 522 reach the ground on the flat road, so that the crawler-type Elevation of the rear of the running gear 07m; and/or,
在该可移动的设备通过该履带式行走机构07行驶从上倾路段进入平路且该履带式行走机构中履带07m还处于后倾状态时，控制该第二升降机构222使该第二行走机构522在该上倾路段抵地,以减小该履带式行走机构07m的倾斜角度；和/或，When the movable equipment enters the flat road from the uphill road section through the crawler-type traveling mechanism 07 and the crawler belt 07m in the crawler-type traveling mechanism is still in a backward tilting state, the second lifting mechanism 222 is controlled to make the second traveling mechanism 522 reach the ground on the uphill road section, to reduce the inclination angle of the crawler-type running gear 07m; and/or,
控制该第一升降机构211和控制该第二升降机构222，和/或控制该第三升降机构，用于：在该腿臂融合的机械腿离地进行指定的作业时调整该机架01相对于路面的高度或调整该机架01的姿态；或使使该设备在第一模式和第二模式之间切换；Controlling the first elevating mechanism 211 and controlling the second elevating mechanism 222, and/or controlling the third elevating mechanism, is used to adjust the relative adjust the height of the road surface or adjust the attitude of the frame 01; or make the device switch between the first mode and the second mode;
该第一模式为：该第三行走机构的下表面低于该第一行走机构511的下表面和/或该第二行走机构522的下表面，由该第三行走机构支撑该机架01离地和使该可移动的设备沿路面行驶，或由该第一行走机构511与该第二行走机构522中一种及该第三行走机构支撑该机架01离地和使该可移动的设备沿路面行驶；The first mode is: the lower surface of the third traveling mechanism is lower than the lower surface of the first traveling mechanism 511 and/or the lower surface of the second traveling mechanism 522, and the frame 01 is supported by the third traveling mechanism. ground and make the movable equipment travel along the road, or support the frame 01 off the ground and make the movable equipment by one of the first traveling mechanism 511 and the second traveling mechanism 522 and the third traveling mechanism drive along the road;
该第二模式为：该第一行走机构511的下表面和该第二行走机构522的下表面都低于该第三行走机构的下表面，由该第一行走机构511和该第二行走机构522支撑该机架01离地和使该可移动的设备沿路面行驶。The second mode is: the lower surface of the first traveling mechanism 511 and the lower surface of the second traveling mechanism 522 are all lower than the lower surface of the third traveling mechanism, and the first traveling mechanism 511 and the second traveling mechanism 522 supports the frame 01 off the ground and enables the movable equipment to travel along the road.
滚动式行走机构越障，指使该滚动式行走机构的下表面抬高至不低于凸起于路面的障碍物的高度以越过该障碍物或使指使滚动式行走机构不坠入低于路面的下陷部。例如，凸起于路面的障碍物为高于路面的台阶。低于路面的下陷部为台阶之下。障碍位于行驶方向的前方。路面指设备当前所在位置的路面。Rolling running gear over obstacles means raising the lower surface of the rolling running gear to the height not lower than the obstacle protruding from the road surface so as to cross the obstacle or make the rolling running gear not fall below the road surface Sag. For example, an obstacle protruding from the road surface is a step higher than the road surface. The sunken portion lower than the road surface is under the steps. The obstacle is ahead in the direction of travel. The road surface refers to the road surface where the device is currently located.
19.一种如实施例1、2、3、实施方案7、8所述的可移动的设备的控制方法4-1包括步骤：19. A control method 4-1 for a movable device as described in embodiments 1, 2, 3, and implementations 7 and 8 includes the steps:
控制某腿根运动机构使该第一侧的机械腿02的基座和该第二侧的机械腿02的基座位于该机架01的某一端；控制该第一侧的机械腿02使该第一侧的机械腿02撑地和/或控制该第二侧的机械腿02使该第二侧的机械腿02撑地，或控制该第一侧的机械腿02和该第二侧的机械腿02步行，以使该设备沿路面行驶和/或使该机架01的某一端及位于该某一端的滚动式行走机构离地以越障；该某一端为第一端及该另一端为第二端，或该某一端为第二端及该另一端为第一端；该某腿根运动机构为该连接支架的第一线性运动机构184，或该某腿根运动机构为该第一侧的第一线性运动机构184L及该第二侧的第一线性运动机构184R，或该某腿根运动机构为该第一侧的第一腿根摆动机构19L及该第二侧的第一腿根摆动机构19R。Control a leg root motion mechanism so that the base of the mechanical leg 02 on the first side and the base of the mechanical leg 02 on the second side are located at a certain end of the frame 01; control the mechanical leg 02 on the first side so that the The mechanical leg 02 on the first side supports the ground and/or controls the mechanical leg 02 on the second side to make the mechanical leg 02 on the second side support the ground, or controls the mechanical leg 02 on the first side and the mechanical leg 02 on the second side. Leg 02 walks, so that the equipment travels along the road and/or a certain end of the frame 01 and the rolling walking mechanism located at the certain end are lifted off the ground to overcome obstacles; the certain end is the first end and the other end is The second end, or the certain end is the second end and the other end is the first end; the certain leg movement mechanism is the first linear movement mechanism 184 of the connecting bracket, or the certain leg movement mechanism is the first The first linear motion mechanism 184L on the first side and the first linear motion mechanism 184R on the second side, or the leg motion mechanism is the first leg swing mechanism 19L on the first side and the first leg on the second side. Root swing mechanism 19R.
具体的，请参考图6和图8所示设备，腿根运动机构带动机械腿运动至机架01的第一端(前部)，此时设备能形成“由机械腿在前拉车”的独特行驶模式，且能协助第一行走轮511离地、越障。Specifically, please refer to the equipment shown in Figure 6 and Figure 8. The leg root movement mechanism drives the mechanical legs to move to the first end (front) of the frame 01. At this time, the equipment can form a "car pulled by the mechanical legs" Unique driving mode, and can assist the first road wheel 511 to leave the ground and overcome obstacles.
具体的，请参考图7和图9所示设备，腿根运动机构带动机械腿运动至机架01的第二端(后部)，此时设备能形成“由机械腿在后退车”的独特行驶模式，且能协助第二行走轮522离地、越障。Specifically, please refer to the equipment shown in Figure 7 and Figure 9. The leg root movement mechanism drives the mechanical leg to move to the second end (rear) of the rack 01. At this time, the equipment can form a unique "backward car by the mechanical leg" driving mode, and can assist the second road wheel 522 to lift off the ground and overcome obstacles.
一种如实施例1、2、3、实施方案7、8所述的可移动的设备的控制方法4-2包括步骤：A control method 4-2 of a movable device as described in Embodiments 1, 2, 3, and Embodiments 7 and 8 includes steps:
控制该连接支架的第一线性运动机构184或控制该第一侧的第一线性运动机构184L及该第二侧的第一线性运动机构184R，使该第一侧的机械腿02的基座和该第二侧的机械腿02的基座位于该机架01的中部，或控制该第一侧的第一腿根摆动机构19L及该第二侧的第一腿根摆动机构19R，使该第一侧的机械腿02的基座和该第二侧的机械腿02的基座位于该机架01的中下部；控制该第一侧的机械腿02和该第二侧的机械腿02步行。Control the first linear motion mechanism 184 of the connecting bracket or control the first linear motion mechanism 184L on the first side and the first linear motion mechanism 184R on the second side, so that the base of the mechanical leg 02 on the first side and the first linear motion mechanism 184R on the second side The base of the mechanical leg 02 on the second side is located in the middle of the frame 01, or the first leg swing mechanism 19L on the first side and the first leg swing mechanism 19R on the second side are controlled to make the first leg swing mechanism 19R The base of the mechanical leg 02 on one side and the base of the mechanical leg 02 on the second side are located at the middle and lower part of the frame 01; the mechanical leg 02 on the first side and the mechanical leg 02 on the second side are controlled to walk.
一种如实施方案实施例1、2、3、实施方案7、8所述的可移动的设备的控制方法4-3包括步骤：A control method 4-3 of a mobile device as described in Embodiments 1, 2, 3, 7, and 8 includes the steps:
控制某腿根运动机构使该腿根运动机构的输出件所连接的机械腿的基座位于该机架01的第一端、该机架01的中部与该机架01的第二端中任一位置，控制该机械腿进行指定的作业，该某腿根运动机构为该连接支架的第一线性运动机构184、该第一侧的第一线性运动机构184L、该第二侧的第一线性运动机构184R、该第一侧的第一腿根摆动机构19L和该第二侧的第一腿根摆动机构19R中 任一种。Control a certain leg root movement mechanism so that the base of the mechanical leg connected to the output part of the leg movement mechanism is located at any of the first end of the frame 01, the middle part of the frame 01 and the second end of the frame 01. One position, control this mechanical leg to carry out the specified work, this certain leg root movement mechanism is the first linear movement mechanism 184 of this connecting bracket, the first linear movement mechanism 184L of this first side, the first linear movement mechanism 184L of this second side. In the movement mechanism 184R, the first leg swing mechanism 19L on the first side, and the first leg swing mechanism 19R on the second side any kind.
一种如实施方案8所述的可移动的设备的控制方法4-4包括步骤：A control method 4-4 of a movable device as described in Embodiment 8 includes steps:
控制某一侧的第一腿根摆动机构使该某一侧的机械腿02的基座位于该机架01的中上部，控制该机械腿02进行指定的作业或攀爬，该攀爬指通过该机械腿的末端所连接的末端执行器抓住高于该机架01的外部物体使该设备沿该外部物体爬行，该末端执行器为抓取装置06或用于攀爬的作业工具，该某一侧为第一侧或第二侧。Control the first leg root swing mechanism on a certain side so that the base of the mechanical leg 02 on the certain side is located at the middle and upper part of the frame 01, and control the mechanical leg 02 to perform specified operations or climb. The end effector connected to the end of the mechanical leg grabs an external object higher than the frame 01 to make the device crawl along the external object, the end effector is a grabbing device 06 or a working tool for climbing, the A certain side is the first side or the second side.
20.一种如实施例1、实施例2、实施方案8所述的可移动的设备的控制方法5-1包括步骤：20. A control method 5-1 of a movable device as described in embodiment 1, embodiment 2, and embodiment 8 includes steps:
控制任一方位的该第二线性运动机构带动该任一方位的机械腿的基座运动到该第一区域，控制该机械腿进行指定的作业或攀爬，该攀爬指通过该机械腿的末端所连接的末端执行器抓住高于该机架01的外部物体使该设备沿该外部物体爬行，该末端执行器为抓取装置06或用于攀爬的作业工具。Control the second linear motion mechanism in any orientation to drive the base of the mechanical leg in any orientation to the first area, and control the mechanical leg to perform specified operations or climb. The end effector connected to the end grabs an external object higher than the frame 01 to make the device crawl along the external object, and the end effector is a grabbing device 06 or a working tool for climbing.
一种如实施方案实施例1、实施例2、实施方案8所述的可移动的设备的控制方法5-2包括步骤：控制该任一方位的该第二线性运动机构带动该任一方位的机械腿的基座运动到该第二区域，控制该机械腿进行指定的作业。A control method 5-2 of a movable device as described in Embodiment 1, Embodiment 2, and Embodiment 8 includes the step of: controlling the second linear motion mechanism in any orientation to drive the second linear motion mechanism in any orientation The base of the mechanical leg moves to the second area, and the mechanical leg is controlled to perform specified operations.
一种如实施方案实施例1、实施例2、实施方案8所述的可移动的设备的控制方法5-3包括步骤：A control method 5-3 of a movable device as described in Embodiment 1, Embodiment 2, and Embodiment 8 includes the steps:
控制同一部位的第一侧的该第二线性运动机构和第二侧的该第二线性运动机构，使该同一部位的该第一侧的机械腿的基座和该第二侧的机械腿的基座运动到第二区域，控制该第一侧的机械腿和该第二侧的机械腿步行，该同一部位为该第一端和/或该第二端。Control the second linear motion mechanism on the first side and the second linear motion mechanism on the second side of the same part, so that the base of the mechanical leg on the first side and the mechanical leg on the second side of the same part The base moves to the second area to control the mechanical legs on the first side and the mechanical legs on the second side to walk, and the same position is the first end and/or the second end.
21、一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述任一项所述的控制方法。21. A computer-readable storage medium, wherein computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by a processor, the control method described in any one of the above is implemented.
一种可移动的设备的控制装置，其特征在于，所述控制装置包括处理器以及存储有计算机程序指令的存储器；所述处理器执行所述计算机程序指令时实现上述任一项所述的控制方法。A control device for movable equipment, characterized in that the control device includes a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the control described in any one of the above is realized method.
。控制装置既可位于设备内，也可位于独立于可移动的设备的其他移动平台中。. The control means can be located either within the device or in another mobile platform separate from the mobile device.
一种移动平台，该移动平台为如实施例1或基于实施例1的任一可选方案所述的可移动的设备，或该移动平台包含用于使该移动平台沿路面行驶的行走机构，该移动平台包括上述控制装置。A mobile platform, the mobile platform is the movable device as described in embodiment 1 or any optional solution based on embodiment 1, or the mobile platform includes a walking mechanism for driving the mobile platform along the road surface, The mobile platform includes the above-mentioned control device.
22、设备的载人舱的实施例：该载人舱11包括底部116，该底部116上留有载人空间。该载人空间左右两侧设有边框。该边框即边部。可选的，载人舱的前边或后边也设有边框。载人舱11中至少一边的边部设有能开闭的门或窗。22. An embodiment of the manned cabin of the equipment: the manned cabin 11 includes a bottom 116, and a space for people is left on the bottom 116. Borders are arranged on the left and right sides of the manned space. This border is the edge. Optionally, a frame is also provided on the front or rear of the manned compartment. At least one side of the passenger cabin 11 is provided with a door or window that can be opened and closed.
可选地，机架01呈镂空状设置，机架01相对水平面水平布置，并包括多根纵梁和多根横梁，各横梁的两端分别连接对应两纵梁。可以多根纵梁沿竖直方向层叠设置，而多根横梁沿竖直方向层叠设置。本实施例1中，纵梁和横梁由金属材料或其他具有标准强度材料制成，比如不锈钢方管或铝型材，多根方管焊接而形成机舱。纵向指前后方向。横向指左右方向。镂空即中空。Optionally, the frame 01 is hollowed out, arranged horizontally relative to the horizontal plane, and includes a plurality of longitudinal beams and a plurality of cross beams, and two ends of each cross beam are respectively connected to two corresponding longitudinal beams. A plurality of longitudinal girders may be stacked vertically, and a plurality of cross beams may be stacked vertically. In Embodiment 1, the longitudinal beams and cross beams are made of metal materials or other materials with standard strength, such as stainless steel square tubes or aluminum profiles, and multiple square tubes are welded to form the nacelle. Longitudinal refers to the front-to-back direction. Horizontal refers to the left-right direction. Hollow is hollow.
如图1、图2、图3、图4、图5所示；机架01的组成部分还可包括相互连接的运动机构的基座。第一侧或第二侧的纵梁可由该侧纵向设置的运动机构的基座构成。纵向设置的第一端的前后运动用的运动机构181的基座、第二端的前后运动用的运动机构182的基座均为机架01的纵梁。第一端的第三升降机构212和第二端的第三升降机构221的基座均竖向连接于机架01。As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5; the components of the frame 01 may also include the base of the kinematic mechanism connected to each other. The longitudinal beam of the first side or the second side can be formed by the base of the kinematic mechanism arranged longitudinally on this side. The base of the kinematic mechanism 181 for the forward and backward motion of the first end and the base of the kinematic mechanism 182 for the forward and backward motion of the second end are longitudinal beams of the frame 01 . The bases of the third lifting mechanism 212 at the first end and the third lifting mechanism 221 at the second end are vertically connected to the frame 01 .
请参阅图4：且该设备还包括若干导向机构用于导向和增加结构强度。1611、1612、1621和1622均为导向机构。第一导向机构1611的两端分别连接机架01中部部件和第一端上部部件。第一导向机构1612的两端分别连接机架01中部部件和第一端下部部件。第二导向机构1621的两端分别连接机架01中部部件和第二端上部部件。第二导向机构1622的两端分别连接机架01中部部件和第二端下部的部件。Please refer to Figure 4: and the device also includes several guiding mechanisms for guiding and increasing structural strength. 1611, 1612, 1621 and 1622 are all guiding mechanisms. Both ends of the first guide mechanism 1611 are respectively connected to the middle part of the frame 01 and the upper part at the first end. Two ends of the first guiding mechanism 1612 are respectively connected to the middle part of the frame 01 and the lower part of the first end. Two ends of the second guide mechanism 1621 are respectively connected to the middle part of the rack 01 and the upper part of the second end. Both ends of the second guide mechanism 1622 are respectively connected to the middle part of the rack 01 and the lower part of the second end.
第一侧或第二侧的纵梁之间设有预定宽度。第一侧或第二侧的纵梁的底部由横梁和/或板连接。该设备构造为能载人移动，该宽度设置为不小于标准成人的双肩的宽度。该底部用于承载载人舱或该底部为载人舱的底部。连接的实施例：机架各部件的连接为焊接。机架与其他部件为螺纹连接。A predetermined width is provided between the stringers on the first side or the second side. The bottoms of the stringers on the first side or the second side are connected by beams and/or plates. The device is configured to be capable of carrying people, and the width is set to be not less than the width of the shoulders of a standard adult. The bottom is used to carry the manned cabin or the bottom is the bottom of the manned cabin. The embodiment of connection: the connection of each part of the frame is welding. The frame is threaded with other parts.
名词解释部分：Noun explanation part:
本发明中，任一处的描述，可用于本文中任一方案中：该任一方案尤其指在任一可移动的设备方案。指定的作业即特定的作业。指定即特定。指定等同于特定。本文中：设备即机器即机器人，该三者等同。本文中，所有前后左右方向的限定，均以该设备沿路面行驶的行驶方向为基准。以该设备沿路面行驶的行驶方向为基准，也可描述为在该设备的行驶方向上，两者等同。为基准即为参考。行驶方向为前，第一侧为左侧，第二侧为右侧。在无限定说明时，路面指平路。第一端即第一 部位即第一部即前部。第二端即第二部位即第二部即后部。纵向指前后方向。横向指左右方向。第一部位即设备重心之前的部位。第二部位即设备重心之后的部位。第一部位与第二部位为相对的部位。第一端与第二端为以该重心O为界的相对的两端。设备的机架01的第一端位于该设备的重心O点之前。设备的机架01的第二端位于该设备的重心O点之后。在前后方向上，设备的机架01的中部位于该机架01的第一端与该机架01的第二端之间。In the present invention, the description at any place can be used in any scheme in this paper: the any scheme especially refers to any mobile equipment scheme. A specified job is a specific job. To specify is to specify. Specifying is equivalent to specifying. In this article: equipment is a machine or a robot, and the three are equivalent. In this article, all definitions of front, rear, left, and right directions are based on the driving direction of the device along the road. Taking the driving direction of the device along the road as a reference, it can also be described as being in the driving direction of the device, and the two are equivalent. The benchmark is the reference. The direction of travel is forward, the first side is the left side, and the second side is the right side. When there is no limitation, the road surface refers to a flat road. first end is first The first part is the front part. The second end is the second part or the second part or the rear part. Longitudinal refers to the front-to-back direction. Horizontal refers to the left-right direction. The first part is the part before the center of gravity of the device. The second part is the part behind the center of gravity of the device. The first site and the second site are opposite sites. The first end and the second end are opposite ends bounded by the center of gravity O. The first end of the rack 01 of the device is located in front of the point O of the center of gravity of the device. The second end of the rack 01 of the device is located behind the point O of the center of gravity of the device. In the front-rear direction, the middle part of the rack 01 of the equipment is located between the first end of the rack 01 and the second end of the rack 01 .
以设备的重心O点为界，该重心O点的一侧为第一侧，该重心O点的另一侧为第二侧。第一侧与第二侧位于该重心O相对的两侧。行驶方向为前，第一侧为左侧，第二侧为右侧。任一侧，并非限定于该侧的外表面。通过该设备的重心O点的沿行驶方向的轴线为纵轴。在纵轴的左方即左侧。在纵轴的右方即右侧。第一侧与第二侧位于该纵轴相对的两侧。位于设备的重心O的第一侧即位于该设备的机架01的中心的第一侧即位于该设备的纵轴的第一侧。位于设备的重心O的第二侧即位于该设备的机架01的中心的第二侧即位于该设备的纵轴的第二侧。Taking the center of gravity O of the device as a boundary, one side of the center of gravity O is the first side, and the other side of the center of gravity O is the second side. The first side and the second side are located on opposite sides of the center of gravity O. The direction of travel is forward, the first side is the left side, and the second side is the right side. Either side, not limited to the outer surface of that side. The axis in the direction of travel passing through the point O of the center of gravity of the device is the longitudinal axis. To the left of the vertical axis is the left side. To the right of the vertical axis is the right side. The first side and the second side are located on opposite sides of the longitudinal axis. The first side of the center of gravity O of the device, ie the center of the frame 01 of the device, is located on the first side of the longitudinal axis of the device. The second side of the center of gravity O of the device, ie the center of the frame 01 of the device, is located on the second side of the longitudinal axis of the device.
重心O点即设备的机架01中心。重心位置即中心位置。任一侧的内外方向指：靠纵轴的方向为内，远离纵轴的方向为外。以设备的重心O点为界，靠前的部位为第一部位，靠后的部位为第二部位。第二部位即第二部。第一部位即第一部。纵向指前后方向。横向指左右方向。任一升降机构的位置均指该升降机构的输出件的位置。任一前后运动机构的位置均指该前后运动机构的输出件的位置。本文中，因无需精确的界定，前后左右的方位，在界定前后左右方位时，设备的重心等同于机架的中心等同于设备的中心等同于机架的重心，该四者效果等同The point O of the center of gravity is the center of the rack 01 of the equipment. The position of the center of gravity is the center position. The internal and external directions on either side refer to: the direction close to the longitudinal axis is inward, and the direction away from the longitudinal axis is external. Taking the center of gravity O point of the equipment as the boundary, the front part is the first part, and the rear part is the second part. The second part is the second part. The first part is the first part. Longitudinal refers to the front-to-back direction. Horizontal refers to the left-right direction. The position of any lifting mechanism refers to the position of the output member of the lifting mechanism. The position of any forward and backward movement mechanism refers to the position of the output member of the forward and backward movement mechanism. In this article, because there is no need to define precisely the front, rear, left, and right orientations, when defining the front, rear, left, and right orientations, the center of gravity of the equipment is equal to the center of the rack, and the center of the equipment is equal to the center of gravity of the rack. The four effects are equivalent
本文中，没有限定说明时，所有的轮均指行走轮。本文中，行走轮也可简称为轮。行走轮即轮式行走机构。行走即地面移动即行驶。轮式行走即轮式移动即轮式行驶。In this article, when there is no limitation, all wheels refer to running wheels. Herein, the running wheel may also be referred to simply as a wheel. The walking wheel is a wheeled walking mechanism. To walk is to move the ground and to travel. Wheeled walking is wheeled movement, that is, wheeled travel.
腿臂融合的机械腿即多功能的机械腿即具有臂功能的机械腿即腿臂融合的肢体机构，该四者等同。腿根运动机构即第四运动机构。第二线性运动机构即第四升降机构。第一线性运动机构即第四前后运动机构。第一腿根摆动机构即第一单级摆动机构。第一端即第一部位即前部即首端。第二端即第二部位即后部即尾端。中部即第三部位。顶部升降机构即第五升降机构。本文中，任一处设备，即可移动的设备。可移动的设备简称为设备。The mechanical leg of leg-arm fusion is the multifunctional mechanical leg, that is, the mechanical leg with arm function, that is, the limb mechanism of leg-arm fusion, and the four are equivalent. The leg root motion mechanism is the fourth motion mechanism. The second linear motion mechanism is the fourth lifting mechanism. The first linear motion mechanism is the fourth forward and backward motion mechanism. The first leg root swing mechanism is the first single-stage swing mechanism. The first end, that is, the first part, that is, the front portion, that is, the head end. The second end is the second part, that is, the rear portion, that is, the tail end. The middle part is the third part. The top elevating mechanism is the fifth elevating mechanism. In this article, any device is a mobile device. A removable device is simply referred to as a device.
在本文中，履带式行走机构即履带式行驶装置，两者等同。抵地即撑地即着地即触地。用于抵地的部位即触地点。轮式行走机构即行走轮。行走轮的前边缘指行走轮靠前的边缘。行走轮的后边缘指行走轮靠后的边缘。抵地即抵接路面。撑地即抵地。地面即路面。行驶指沿路面行驶。In this article, the crawler-type traveling mechanism is the crawler-type traveling device, and the two are equivalent. When you reach the ground, you support the ground, you land on the ground, you touch the ground. The part used to reach the ground is the touch point. The wheeled walking mechanism is the walking wheel. The front edge of the road wheel refers to the front edge of the road wheel. The rear edge of the road wheel refers to the rear edge of the road wheel. Touching the ground means touching the road. When you support the ground, you reach the ground. The ground is the road. To drive means to drive along the road.
在没有限定时，履带式行走机构为整体式履带式行走机构整体式履带式行走机构指该履带式行走机构的前抵地点位于可移动的设备的重心前且该履带式行走机构的后抵地点位于该设备的重心后边。整体式履带式行走机构指该履带式行走机构的前抵地点和后抵地点之间设有用于抵地的履带。When there is no limitation, the crawler-type traveling mechanism is an integral crawler-type traveling mechanism. The integral crawler-type traveling mechanism means that the forward arrival point of the crawler-type traveling mechanism is located in front of the center of gravity of the movable equipment and the rear-arrival point of the crawler-type traveling mechanism located behind the center of gravity of the device. Integral crawler-type traveling mechanism refers to that crawler belts for reaching the ground are provided between the front arrival point and the rear arrival point of the crawler-type traveling mechanism.
分布式履带机构指前抵地点与后抵地点都位于可移动的设备的重心之前或之后的履带式行走机构。行走轮的抵地点指行走轮的下表面。履带式行走机构的前抵地点指该履带式行走机构所含履带的下表面的靠前的点，履带式行走机构的后抵地点指该履带式行走机构所含履带的下表面的靠后的点。履带的下表面指履带的下表面中最长的一段直线。行走轮或车轮的中心即该轮的轴心。履带式行走机构在前后方向的中心为履带1/2长度处。任一行走部件的抵地点指该行走部件中用于抵地的部分。抵地点允许处于抬起、离地状态。任一行走机构的着地点，均指该行走机构在俯视方向的靠外的着地点。靠外的着地点指前后左右的各方位中与机架01中心的水平方向距离最远的着地点。The distributed crawler mechanism refers to a crawler-type walking mechanism whose front and rear arrival points are located before or after the center of gravity of the movable equipment. The landing point of the road wheel refers to the lower surface of the road wheel. The front arrival point of the crawler-type traveling mechanism refers to the front point of the lower surface of the crawler included in the crawler-type traveling mechanism, and the rear-arrival point of the crawler-type traveling mechanism refers to the rearward point of the lower surface of the crawler included in the crawler-type traveling mechanism. point. The lower surface of the track refers to the longest straight line in the lower surface of the track. The center of the road wheel or wheel is the axis of the wheel. The center of the crawler-type traveling mechanism in the front-rear direction is at the 1/2 length of the crawler belt. The landing point of any walking component refers to the part of the walking component that is used to touch the ground. The arrival point is allowed to be lifted and off the ground. The landing site of any running gear refers to the outer landing site of the running gear in the overlooking direction. The outer landing point refers to the farthest landing point in the horizontal direction from the center of the rack 01 in all directions, front, rear, left, and right.
1、方位即方向即角位置即取向。在没有限定说明时，前后左右上下中任一方位，参照物为可移动的设备的重心O点。设备的重心(O)指该设备的构造重心(O)。在没有限定说明时，任一部件均指该部件的中心。本文中，向内或向外，指以参照物为基准，向内为：指向该参照物的方向；向外为：指向该参照物的相反的方向。当无附加说明时：前方指；可移动的设备行驶的方向。前方指附图中X1所指的方向。X1指示前方，则X2指示后方。左右指左和/或右，前后指前和/或后。进退指进和/或退。本文中，前视即从前往后的方向看，前视图即左视图；侧视图也即正视图也即主视图，该视图方向为从左往右方向看；俯视图即从上往下的方向看的视图。1. Azimuth means direction, means angular position, means orientation. When there is no limitation, the reference object is the center of gravity O point of the movable device in any orientation of front, rear, left, right, up, and down. The center of gravity (O) of a device refers to the center of gravity (O) of the device's construction. Any part refers to the center of the part unless otherwise specified. In this article, inward or outward refers to the reference object as a reference, inward means: the direction pointing to the reference object; outward means: pointing in the opposite direction to the reference object. When there are no additional instructions: forward refers to; the direction in which movable equipment travels. The front refers to the direction indicated by X1 in the attached drawing. X1 indicates the front, and X2 indicates the rear. Left-right means left and/or right, and front-back means front and/or back. Advance and retreat refers to advance and/or retreat. In this article, the front view is viewed from the front and back, the front view is the left view; the side view is the front view, which is the front view, and the view direction is from left to right; the top view is from the top to bottom view.
前包括正前、左前和右前。后包括正后、左后和右后。左包括正左、左前和左后。右包括正右、右前和右后。纵向即X向即前后方向。横向即Y向即左右方向。上方包括正上方、侧上方即斜上方。顶即上方。下方包括正下方、侧下方即斜下方。竖向即Z向，指上下方向。本文中，第一侧与第二侧为相对的方位。在无限定说明时：第一侧为左边即左方即左侧，第二侧为右边即右方即右侧。在没有限定说明时，本文中该的中部指第一行走机构和第二行走机构之间的部位。第一侧的第一端即左前。第二侧的第一端即右前。第一侧的第二端即左后。第二侧的第二端即右后。 Front includes straight front, left front and right front. The rear includes positive rear, left rear and right rear. Left includes positive left, left front and left rear. Right includes front right, front right and rear right. The longitudinal direction is the X direction, which is the front-to-back direction. The horizontal direction is the Y direction, which is the left-right direction. Above includes directly above, and side above is obliquely above. The top is above. Below includes directly below, and side below is obliquely below. The vertical direction is the Z direction, which refers to the up and down direction. Herein, the first side and the second side are opposite orientations. In the case of unrestricted description: the first side is the left side, that is, the left side, that is, the left side, and the second side is the right side, that is, the right side, that is, the right side. When there is no limitation, the middle part herein refers to the position between the first running gear and the second running gear. The first end of the first side is the front left. The first end of the second side is the front right. The second end of the first side is the left rear. The second end of the second side is the right rear.
前表面即第一端的端面。后表面即第二端的端面。上表面即第一区域的表面。下表面即第二区域的表面。第一区域即机架01靠上的区域即背部。第二区域即机架01靠下的区域即腹部。第一区域的表面即第一区域靠上的表面即背面。第二区域的表面即第二区域靠下的表面。第一区域与第二区域以机架01的高度的1/2的高度线为界，该1/2的高度线之上为第一区域，该1/2的高度线之下为第二区域。The front surface is the end surface of the first end. The rear surface is the end surface of the second end. The upper surface is the surface of the first region. The lower surface is the surface of the second region. The first area is the upper area of the frame 01, namely the back. The second area is the lower area of the rack 01, i.e. the abdomen. The surface of the first region, that is, the upper surface of the first region, is the back surface. The surface of the second area is the lower surface of the second area. The first area and the second area are bounded by the height line of 1/2 of the height of the rack 01, the first area is above the 1/2 height line, and the second area is below the 1/2 height line .
任一部件均具有两端，该部件的一端指该部件的根部，该部件的另一端指该部件的末端。在连接关系上：根部指靠近机架的部位。末端指远离机架的部位。该部件尤其指腿、臂、机构或关节。根部即基座即固定端即固定件即首端即内端，该六者等同。末端即活动端即活动件即输出端即输出件即外端，该六者等同。任一机构的一端指该机构的基座，该机构的另一端指该机构的输出件。Any part has two ends, one end of the part refers to the root of the part, and the other end of the part refers to the end of the part. In the connection relationship: the root refers to the part close to the rack. The end refers to the part away from the rack. The part is in particular a leg, an arm, a mechanism or a joint. The root is the base, the fixed end is the fixture, the head end is the inner end, and the six are equal. The end is the movable end, the movable part is the output end, the output part is the outer end, and the six are equal. One end of any mechanism refers to the base of the mechanism, and the other end of the mechanism refers to the output of the mechanism.
本文中，在没有限定或附加说明时：可移动的设备指可移动的设备的机架01。设备的移动指该机架01的移动。本体即躯体也即躯干即机身即机架。地面即路面。地面指设备下方用于支承该设备的底面。本文中，任一处连接轮，均指连接轮的轴。履带式行走机构、履带的安装位置为设备下方的中部。在没有限定说明时，任一部件相对于另一部件的位置关系，以该两部件的中心为比较基准。Herein, when there is no limitation or additional description: the movable equipment refers to the rack 01 of the movable equipment. The movement of the equipment refers to the movement of the rack 01 . The body is the body and the torso is the fuselage and the frame. The ground is the road. Floor means the bottom surface under the equipment used to support the equipment. Herein, any connection wheel refers to the shaft of the connection wheel. The crawler-type traveling mechanism and the crawler belt are installed in the middle of the bottom of the equipment. Unless otherwise specified, the positional relationship of any member with respect to the other member is based on the center of the two members.
2、本文中，任一处相同均指大体相同。大体相同可为完全相同。例如，平指大体为水平。平可为水平。直指大体为直。本文中，调整，指在能调整范围内增大或减小。调整，指受控调整。2. In this article, the same in any place means substantially the same. Substantially identical may be identical. For example, flat means roughly horizontal. Flat can be level. Straight pointing is generally straight. Herein, adjustment refers to increase or decrease within an adjustable range. Adjustment refers to controlled adjustment.
3、常用名词(方案、能、可、设置、具有、包括)的意义：3. The meanings of commonly used nouns (plan, can, can, set, have, include):
本文中任一方案中如包括“能”或“可”或“以”的词，则该方案均包含将该“能”或“可”或“以”的词去掉后的方案。任意指若干。若干可为一个或多个。某种也即任意一种或任意多种。If the word "can" or "may" or "with" is included in any of the schemes herein, the scheme includes the scheme after the word "can" or "may" or "with" is removed. Arbitrary refers to several. Several can be one or more. A certain kind, that is, any one or any variety.
A包括B，包括：A连接有B或A为B的情况。包括可为仅仅包括。仅仅包括即为。A includes B, including: A is connected to B or A is B. Include can be just include. Just include it.
4、连接包括直接连接或通过居中件连接。连接，包括：(机械部件之间的)机械连接、(电气部件之间)电连接等。电连接包括有线连接、无线连接。直接连接，例如焊接或压接或螺纹连接或勾住或挂接或卡扣式连接等。在无限定时，连接均指串接。多个部件依次连接，为前一部件的末端连接后一部件的根端，也即多个部件的尾首依次连接。默认的，连接为机械连接。(机械)连接的种类，包括：固定连接、可拆卸连接。两者连接还可为两者一体化。可拆卸的连接，也即为以能受控的解除连接的方式的连接。活动连接包括可滑动连接或可转动连接；可转动连接即铰接。固定连接即安装。本文中，任一连接部，指设备中用于连接待连接部件的部件。连接部位指用于支承、连接待连接部件的部位。例如，待连接部件为运动机构。连接部，指该部构造为具有用于连接待连接部件的属性或已进行用于连接的处理。连接部指该部位构造为能承载待连接部件所产生的力连接部还可指连接部件。该部件为孔、槽或销或加固件。4. The connection includes direct connection or connection through an intermediate piece. Connection, including: mechanical connection (between mechanical components), electrical connection (between electrical components), etc. Electrical connection includes wired connection and wireless connection. Direct connection, such as welding or crimping or screwing or hooking or hooking or snap-in connection, etc. In infinite timing, connection refers to concatenation. A plurality of components are connected in sequence, and the end of the former component is connected to the root end of the latter component, that is, the ends of the plurality of components are connected in sequence. By default, the connection is mechanical. The type of (mechanical) connection, including: fixed connection, detachable connection. The connection of the two can also be the integration of the two. A detachable connection, that is, a connection in such a way that it can be disconnected in a controlled manner. Active connections include slidable connections or rotatable connections; rotatable connections are hinged. Fixed connection and installation. Herein, any connecting part refers to a part used to connect the parts to be connected in the device. The connection part refers to the part used to support and connect the parts to be connected. For example, the components to be connected are kinematic mechanisms. A connection part means a part configured to have properties for connecting parts to be connected or has undergone processing for connection. The connection part means that the part is configured to bear the force generated by the parts to be connected. The connection part can also refer to the connection part. The part is a hole, slot or pin or reinforcement.
5、单元即装置即***即模块即部件即元件即器件即组件，该八者等同。在没有限定说明的情况下，设备所包括的部件，均可为一个或多个。任一部件可分布于多个物理实体或单个物体实体中。多个部件也可布置在同一物体实体中。驱动装置也称为驱动器即动力装置。驱动装置也称为致动器。5. A unit is a device, a system is a module, a component is a component, a device is a component, and these eight are equivalent. In the case of no limitation, the components included in the device may be one or more. Any part may be distributed over multiple physical entities or a single physical entity. Multiple components may also be arranged within the same object entity. The drive unit is also known as the drive or power unit. Drives are also referred to as actuators.
运动机构与其驱动器可一体化。例如一体化关节指该关节与该关节的驱动装置一体。运动装置的输出端即运动机构的输出端。驱动器也称为驱动组件。The kinematic mechanism and its drive can be integrated. For example, an integrated joint means that the joint is integrated with the driving device of the joint. The output end of the motion device is the output end of the motion mechanism. Drives are also called drive components.
6、机架即本体即躯体也即躯干即机身，该五者等同。任一可移动的设备均具有机架。机架，即可移动的设备中相互固定连接的部件，且该相互固定连接的部件在设备的所有部件中质量最大。6. The frame is the body, the body, the torso, the fuselage, and the five are equal. Any movable piece of equipment has a rack. Rack, that is, parts of a mobile device that are fixedly connected to each other, and the parts that are fixedly connected to each other have the largest mass among all parts of the device.
7、本文中，任一处该设备均包括实现作业所需要的所有装置。任一设备均包括：控制装置、作业装置和能源供应装置。可知的，可移动的设备还可包括需要的电气部件和/或机械件。电气部件(例如导线)用于电连接各部件。机械件用于连接、支撑各部件。本文中，该可移动的设备、控制装置、作业装置和能源供应装置，均配置为：用于实现本文中任一处所描述的方法、步骤和功能。7. In this article, the equipment in any place includes all the devices needed to realize the operation. Any equipment includes: control device, operating device and energy supply device. It is known that the movable equipment may also include necessary electrical components and/or mechanical parts. Electrical components such as wires are used to electrically connect the various components. Mechanical parts are used to connect and support various components. Herein, the movable equipment, control device, working device and energy supply device are all configured to realize the methods, steps and functions described anywhere in this paper.
7.1、作业包括使设备行驶和指定作业。作业装置包括特种作业装置和移动装置。移动装置用于使可移动的设备移动。该移动指在动力***的驱动下移动。滚动式行走装置即滚动式行走机构及该滚动式行走机构的驱动器。行走机构可为滚动式行走机构或步行机构。步行装置即腿装置。步行机构即腿。腿式行走即步行。任一种行走机构均连接有驱动器，该驱动器用于产生驱动该设备沿路面行驶的动力。任一种行走机构与所连接的用于驱动该机构的驱动器，称为行走装置。行走装置包括轮式行走装置和/或履带式行走装置和/或腿装置。行走即行驶。行走指地面移动。行走装置也称为地面移动装置。7.1. The operation includes driving the equipment and specifying the operation. Operating devices include special operating devices and mobile devices. Mobile devices are used to move mobile equipment. The movement refers to movement driven by the power system. The rolling traveling device is the rolling traveling mechanism and the driver of the rolling traveling mechanism. The running gear can be a rolling running gear or a walking gear. The walking device is the leg device. The walking mechanism is the leg. Leg walking is walking. Any running mechanism is connected with a driver, and the driver is used to generate power to drive the device to travel along the road. Any kind of walking mechanism and the connected driver for driving the mechanism are called walking gear. The running gear comprises wheeled running gear and/or crawler running gear and/or leg gear. To walk is to drive. To walk means to move on the ground. Walking gear is also called ground moving gear.
任一机构，该机构的输入端连接用于驱动该机构的驱动器的输出端。控制装置连接该驱动器。由该控制装置控制该驱动器，由控制装置控制机构的动作。本文中，任一机构均连接有用于驱动该升降机构的驱动器。轮机构的输出件即轮辋和/或套于轮辋上的轮胎。驱动器可包含减速器。 Any mechanism whose input is connected to the output of a driver for driving the mechanism. The control unit is connected to the drive. The driver is controlled by the control device, and the action of the mechanism is controlled by the control device. Herein, any mechanism is connected with a driver for driving the lifting mechanism. The output of the wheel mechanism is the rim and/or the tire that fits on the rim. Drives can contain reducers.
本文中，任一处能接受控制装置控制的运动机构均连接有用于驱动该运动机构的驱动器。控制任一机构均指控制用于驱动该机构的驱动器。该机构的动力输入端连接该驱动器的动力输出端。Herein, any motion mechanism that can be controlled by the control device is connected with a driver for driving the motion mechanism. Controlling any mechanism refers to controlling the actuators used to drive the mechanism. The power input end of the mechanism is connected with the power output end of the driver.
运动的类型包括升降、腿式行走、轮式行走、履带式行走和水中推进。与运动的类型相应的，运动机构可分为升降机构、步行机构、轮式行走机构、履带式行走机构、水中推进机构。与运动的类型相应的，运动装置可分为升降装置、腿式行走装置、轮式行走装置、履带式行走装置、水中推进装置。腿式行走即步行。行走也称为行驶或移动。行走指地面移动。行走装置均为地面移动装置。Types of locomotion include lifting, walking on legs, walking on wheels, walking on tracks, and water propulsion. Corresponding to the type of movement, the movement mechanism can be divided into lifting mechanism, walking mechanism, wheel type walking mechanism, crawler type walking mechanism, and underwater propulsion mechanism. Corresponding to the type of movement, moving devices can be divided into lifting devices, leg-type walking devices, wheel-type walking devices, crawler-type walking devices, and underwater propulsion devices. Leg walking is walking. Walking is also called driving or moving. To walk means to move on the ground. The walking devices are all ground mobile devices.
本文中，在没有限定或附加说明时：设备可指设备的机架01。设备的移动指该机架01的移动。本体即躯体也即躯干即机身即机架，该五者等同。本文中，地面即路面。Herein, when there is no limitation or additional explanation: the equipment may refer to the rack 01 of the equipment. The movement of the equipment refers to the movement of the rack 01 . The body is the body, the torso, the fuselage, and the frame, and these five are equal. In this paper, the ground is the road surface.
当作业为行走时，作业执行器件为移动用具。例如该移动用具包括脚、攀爬用具、轮。当作业为特种作业时，作业用具包括抓取装置和/或作业工具。When the job is walking, the job executing device is a mobile appliance. Examples of such mobility equipment include feet, climbing equipment, wheels. When the operation is a special operation, the work tools include grabbing devices and/or work tools.
能源供应装置包括电源或为电源。本文中任一设备中，电源连接控制装置，为控制装置供电；能源供应装置连接作业装置，为作业提供能源。进一步的为，该能源供应装置连接该作业装置中驱动装置，为该作业提供能源。提供能源尤其指供电。能源供应装置可为电源。电源可为电池。The energy supply device includes or is a power source. In any device in this paper, the power supply is connected to the control device to supply power for the control device; the energy supply device is connected to the operation device to provide energy for the operation. Further, the energy supply device is connected to the driving device in the working device to provide energy for the operation. Providing energy especially means supplying electricity. The energy supply device may be a power supply. The power source can be a battery.
驱动装置即驱动单元即动力单元即动力***即驱动部件即驱动组件，该六者等同。驱动装置中包括动力转化装置。例如动力转化装置为电机、液压缸、液压马达、气缸或气动马达。可选的，驱动装置还包括用于控制动力部件的动力控制装置。例如动力控制装置为电机驱动器、液压阀。The drive device is the drive unit, the power unit, the power system, the drive component, the drive assembly, and the six are equivalent. The driving device includes a power conversion device. For example, the power conversion device is an electric motor, a hydraulic cylinder, a hydraulic motor, an air cylinder or an air motor. Optionally, the drive device further includes a power control device for controlling the power components. For example, the power control device is a motor driver and a hydraulic valve.
7.2、控制装置配置为用于实现本文中任一控制方法。控制装置包括处理器和用于存储该处理器可执行指令的存储介质，该处理器配置为用于实现本文中任一控制方法。处理器用于处理、执行程序、操作数据。存储模块用于存储程序、数据。存储介质即存储模块。处理器为CPU或DSP。控制装置还包括通讯模块。通讯模块用于获取外部的传感器所采集的环境信息和获取控制指令。通讯模块与人机界面通讯以获取人工控制指令。通讯模块也可自动控制模块通讯以获取自动控制指令。例如，自动控制模块为能输出行驶指令的自动驾驶模块或能输出特种作业控制指令的人工智能模块。软件程序既可来源于控制装置内的存储模块，也可来源于外部。该外部尤其指网络、云平台。7.2. The control device is configured to implement any of the control methods herein. The control device includes a processor and a storage medium for storing instructions executable by the processor, and the processor is configured to implement any one of the control methods herein. Processors are used to process, execute programs, and manipulate data. The storage module is used to store programs and data. The storage medium is the storage module. Processor is CPU or DSP. The control device also includes a communication module. The communication module is used to obtain environmental information collected by external sensors and obtain control instructions. The communication module communicates with the man-machine interface to obtain manual control instructions. The communication module can also automatically control module communication to obtain automatic control instructions. For example, the automatic control module is an automatic driving module that can output driving instructions or an artificial intelligence module that can output special operation control instructions. The software program can come from a memory module inside the control device or from outside. The external especially refers to network and cloud platform.
控制装置包括用于实现控制功能的软件、硬件和结构件。进一步的，控制装置还包括人机界面、传感器模块中至少一种。控制装置配置为连接用于控制所需要的任意部件。The control device includes software, hardware and structural components for realizing control functions. Further, the control device also includes at least one of a man-machine interface and a sensor module. The control device is configured to connect any components required for control.
通讯模块用于控制装置内部件之间的通讯和/或控制装置与外部***的通讯。通讯模块包括有线通讯模块、无线通讯模块。例如有线通讯模块为485总线或CAN总线或以太网总线。外部***尤其指外部的信息处理中心，尤其指网络网络***。例如，无线通讯模块为移动通讯模块或红外通讯模块。人机界面包括语音输入***、触摸屏、键盘、鼠标、按键、人体姿态识别***等。The communication module is used for communication between components within the control device and/or for communication between the control device and external systems. The communication module includes a wired communication module and a wireless communication module. For example, the wired communication module is 485 bus, CAN bus or Ethernet bus. An external system especially refers to an external information processing center, especially a network system. For example, the wireless communication module is a mobile communication module or an infrared communication module. Human-machine interface includes voice input system, touch screen, keyboard, mouse, buttons, human gesture recognition system, etc.
传感器模块包括用于获取设备自身状况信息的传感器和/或用于获取环境信息的环境感知模块08。控制装置也可通过通讯模块获取外部的传感器模块所采集的信息。自身状况可为躯体的角度、移动速度、加速度、各关节的角度、角速度、各腿、各臂的位置等。该传感器包括IMU、陀螺仪、加速度传感器、电流传感器等。环境指设备所在环境。用于获取环境信息的传感器包括视觉传感器、雷达、超声波、卫星定位模块、射频定位模块中至少一种。The sensor module includes a sensor for acquiring status information of the device itself and/or an environment perception module 08 for acquiring environmental information. The control device can also obtain the information collected by the external sensor module through the communication module. The self-condition can be the angle of the body, moving speed, acceleration, angle of each joint, angular velocity, position of each leg, each arm, etc. The sensor includes IMU, gyroscope, acceleration sensor, current sensor, etc. Environment refers to the environment where the device is located. The sensors for acquiring environmental information include at least one of visual sensors, radars, ultrasonic waves, satellite positioning modules, and radio frequency positioning modules.
控制装置配置为用于控制可移动的设备进行本文中任一种作业。控制装置(电)连接作业装置，控制其进行作业。具体的：控制装置(电)连接作业装置中运动装置，控制该运动装置，由该运动装置驱动与其连接的作业用具进行作业。运动装置即作业装置。更具体的：控制装置(电)连接作业装置中驱动装置，控制装置控制该驱动装置，由该驱动装置驱动与其(机械)连接的运动机构。该运动机构为腿、滚动式行走机构、机械臂或或腿臂融合的机械腿。进一步的，机械臂或腿臂融合的机械腿驱动与其(机械)连接的作业用具进行作业。根据作业种类的不同，依次连接的驱动装置、运动机构和作业用具可为多套。本文中为了描述简便，“控制用于驱动运动机构的驱动装置”可称为“控制运动装置”，或称为“控制运动机构”，该三者等同。作业用具即抓取装置和/或作业工具。The control device is configured to control the movable equipment to perform any of the operations herein. The control device (electricity) is connected to the operation device to control it to perform operations. Specifically: the control device (electrically) is connected to the moving device in the working device, controls the moving device, and the working device connected to it is driven by the moving device to perform operations. The moving device is the working device. More specifically: the control device is (electrically) connected to the drive device in the working device, the control device controls the drive device, and the drive device drives the motion mechanism connected to it (mechanically). The motion mechanism is a leg, a rolling walking mechanism, a mechanical arm or a mechanical leg fused with a leg and an arm. Furthermore, the mechanical arm or the mechanical leg with the fusion of the leg and arm drives the working tool connected to it (mechanically) to perform operations. According to different types of operations, there may be multiple sets of sequentially connected driving devices, moving mechanisms and operating tools. For simplicity of description herein, "controlling the driving device for driving the motion mechanism" may be referred to as "controlling the motion device" or "controlling the motion mechanism", and the three are equivalent. Work tools are gripping devices and/or work tools.
控制装置(电)控制驱动装置，指：该控制装置(其中的处理模块)处理与该作业相关的信息、执行与该作业相关的程序，该控制装置可向驱动装置发出与该作业相关的控制信号。The control device (electrically) controls the driving device, which means: the control device (the processing module in it) processes the information related to the operation, executes the program related to the operation, and the control device can issue control related to the operation to the driving device Signal.
本文中任一设备中，包括转向机构、用于驱动转向机构的驱动器。转向机构连接转向轮。通过操控转向操控器即可使转向轮转向。本文中，还可控制设备中两边的轮差速以转向。三轮行驶的设备的转向机构可为三轮车的转向机构。四轮行驶的设备的转向机构可为汽车的转向机构。转向机构可为数字舵机。数字舵机连接于需转向的行驶轮上。由控制装置控制舵机驱动转向轮转向。Any device herein includes a steering mechanism and a driver for driving the steering mechanism. The steering mechanism connects the steering wheels. Steering wheels can be steered by manipulating the steering manipulator. Here, it is also possible to control the differential speed of the wheels on both sides in the device to steer. The steering mechanism of the equipment traveling on three wheels may be a steering mechanism of a tricycle. The steering mechanism of the four-wheeled device may be the steering mechanism of an automobile. The steering mechanism can be a digital steering gear. The digital steering gear is connected to the running wheels to be turned. The steering gear is controlled by the control device to drive the steering wheel to turn.
7.2.1、运动操控装置可为方向盘、油门、刹车、摇杆。运动操控包括进退操控和/或转向操控。7.2.1. The motion control devices can be steering wheel, accelerator, brake, and rocker. Motion maneuvers include forward and backward maneuvers and/or steering maneuvers.
7.2.3、自动驾驶模块，用于以自动驾驶方式控制可移动的设备移动。自动驾驶即无人驾驶。自 动驾驶模块为基于卫星、地图信息进行无人驾驶；自动驾驶可参照现有公知技术实现。7.2.3. The automatic driving module is used to control the movement of movable equipment in an automatic driving manner. Autonomous driving is driverless. since The automatic driving module is based on satellite and map information for unmanned driving; automatic driving can be realized with reference to existing known technologies.
8、本文中任一运动机构，连接于该设备中用于连接该运动机构的连接部。该连接部设置于该设备的机架。运动包括旋转、线性移动和摆动中任一种或任意多种。任一运动机构的输出件能带动某一部件运动，指该运动机构的输出件连接该部件。该运动机构的基座连接于机架01。8. Any of the kinematic mechanisms in this article is connected to the connection part used to connect the kinematic mechanism in the device. The connection part is arranged on the frame of the equipment. Motion includes any one or any combination of rotation, linear movement, and oscillation. The output part of any movement mechanism can drive a certain part to move, which means that the output part of the movement mechanism is connected to the part. The base of the kinematic mechanism is connected to the frame 01.
运动机构即驱动机构即活动机构即机构，该四者等同。机构包括第一构件和第二构件；第一构件连接第二构件；且第二构件相对于第一构件能运动。该两构件通过运动副联结。第一构件在机构中相对静止和用于支承第二构件。第一构件即基座即机座即固定件即固定构件即机架，该五者等同。该基座用于连接设备的机架或为设备的机架的构成部分。第二构件在第一构件设定的活动路径和/或活动范围内活动。第二构件即活动件。活动件还可分为原动件、从动件和联运件。原动件即主动件即输入件即输入构件，该四者等同。输入件即动力输入件。原动件用于连接动力装置或运动操纵器件；由动力装置驱动该原动件运动或运动操纵器件驱动该原动件运动。或原动件为动力件。原动件连接从动件。从动件即工作件即输出件即输出端即输出构件，该五者等同。输出件即运动输出件或动力输出件。联运件是联结原动件和从动件之间的中介构件。联运件用于传动动力即传动件。从动件带动所连接的负载物体运动。该负载物体为用于作业的用具或末端执行器。运动机构连接动力装置，指运动机构的原动件连接动力装置。运动机构的活动由动力装置驱动。动力装置也称为驱动器。为了便于阅读，可直接用器件的名称表示该器件的机构。例如，轮指轮机构。电动推杆指电动推杆机构。气缸指气缸机构。液压缸指液压缸机构。机械臂指机械臂机构。The moving mechanism is the driving mechanism, the movable mechanism is the mechanism, and the four are equivalent. The mechanism includes a first member and a second member; the first member is connected to the second member; and the second member is movable relative to the first member. The two components are connected by a kinematic pair. The first member is relatively stationary in the mechanism and serves to support the second member. The first component is the base, that is, the base, that is, the fixed piece, that is, the fixed component, that is, the frame, and these five are equivalent. The base is used for connecting to the rack of the equipment or is a constituent part of the rack of the equipment. The second component moves within the moving path and/or moving range set by the first component. The second member is the movable part. The moving parts can also be divided into driving parts, driven parts and intermodal parts. The original moving part is the active part, that is, the input part, that is, the input member, and these four are equivalent. The input part is the power input part. The original moving part is used to connect the power device or the motion control device; the power device drives the original mover to move or the motion control device drives the original mover to move. Or the original moving part is the power part. The prime mover is connected with the follower. The follower is the work piece, the output piece is the output end, the output member, and the five are equivalent. The output part is the motion output part or the power output part. The intermodal part is an intermediary component between the original moving part and the driven part. Intermodal parts are used to transmit power, that is, transmission parts. The driven part drives the connected load object to move. The payload is a tool or an end effector for work. The movement mechanism is connected to the power device, which means that the original moving part of the movement mechanism is connected to the power device. The movement of the movement mechanism is driven by the power unit. The power unit is also called a drive. For ease of reading, the name of the device can be directly used to indicate the mechanism of the device. For example, the wheel finger wheel mechanism. Electric push rod refers to electric push rod mechanism. Cylinder refers to a cylinder mechanism. The hydraulic cylinder refers to the hydraulic cylinder mechanism. The mechanical arm refers to the mechanical arm mechanism.
从输出件的运动特性区分，运动机构包括旋转型机构、线性移动机构和摆动机构。根据所包括的运动机构的种类：驱动装置可分为旋转型驱动装置、线性驱动装置等。例如，旋转型驱动装置为旋转马达。线性驱动装置，指该装置的输出件相对于该装置的基座能线性往复运动。线性移动机构为电动推杆装置、或活塞式气缸装置或伸缩式液压缸装置。旋转型运动机构，该机构的输出件相对于该机构的基座能旋转。该输出件可为旋转轴。旋转型运动机构可为齿轮组机构、涡轮蜗杆机构或旋转马达机构。旋转型运动机构可为旋转关节。线性移动即线性运动。线性尤其指直线。线性运动机构，指该运动机构的输出件相对于该运动机构的基座能线性往复运动。线性运动机构即线性关节。滑动件即滑块。Distinguished from the motion characteristics of the output member, the motion mechanism includes a rotary mechanism, a linear movement mechanism and a swing mechanism. According to the type of motion mechanism included: the drive device can be divided into rotary drive device, linear drive device, etc. For example, the rotary drive device is a rotary motor. Linear drive means that the output member of the device can linearly reciprocate relative to the base of the device. The linear moving mechanism is an electric push rod device, or a piston cylinder device or a telescopic hydraulic cylinder device. Rotary kinematic mechanism, the output of the mechanism can rotate relative to the base of the mechanism. The output member may be a rotary shaft. A rotary motion mechanism may be a gear set mechanism, a worm gear mechanism, or a rotary motor mechanism. The rotary kinematic mechanism may be a rotary joint. Linear movement is linear motion. Linear especially refers to a straight line. A linear motion mechanism means that the output member of the motion mechanism can linearly reciprocate relative to the base of the motion mechanism. A linear motion mechanism is a linear joint. A slider is a slider.
从可从商场购买、可实施的角度，线性移动机构可为导轨型运动机构或伸缩机构。导轨即滑轨。导轨型运动机构的基座为导轨，输出件为滑块。伸缩机构为电动推杆、活塞式气缸或伸缩式液压缸。From the point of view of being available for purchase from a shopping mall and being practical, the linear moving mechanism can be a rail-type moving mechanism or a telescopic mechanism. The guide rail is the slide rail. The base of the guide rail type motion mechanism is a guide rail, and the output part is a slider. The telescopic mechanism is an electric push rod, a piston cylinder or a telescopic hydraulic cylinder.
请参阅图12：一种电动推杆，其内部为丝杆机构，电动推杆的基座201A为推杆的外管，电动推杆的输出件203A为推杆的伸缩杆，其内部丝杆机构包含丝杆202A，该推杆的驱动器为电机204A。Please refer to Figure 12: an electric push rod, its interior is a screw mechanism, the base 201A of the electric push rod is the outer tube of the push rod, the output part 203A of the electric push rod is the telescopic rod of the push rod, and the internal screw The mechanism comprises a screw 202A driven by a motor 204A.
请参阅图13：一种导轨型运动机构，其内部为丝杆机构。丝杆机构包括基座201B、丝杆202B和含螺孔的输出件203B。该基座201B为连接丝杆202B和输出件203B的支架。含螺孔的输出件203B，指该输出件设置有螺孔或该输出件203B连接螺母。该螺孔或该螺母设有与该丝杆202B相配的螺纹。该输出件203B套设在该丝杆202B上且与该丝杆202B螺纹连接。该机构的驱动器为电机。该机构的输入件为丝杆202B。该电机的基座连接该丝杆机构的基座201B。该电机的输出轴连接该机构的丝杆202B的一端，该电机能驱动该丝杆202B绕自身轴线转动。该丝杆202B转动能带动该输出件203B沿该丝杠的长度方向移动。也即该输出件与该丝杆202B配合将该丝杆202B的旋转转化为该输出件的直线移动。Please refer to Figure 13: a guide rail type motion mechanism with a screw mechanism inside. The screw mechanism includes a base 201B, a screw 202B and an output member 203B with a screw hole. The base 201B is a bracket connecting the screw rod 202B and the output member 203B. The output piece 203B with a screw hole means that the output piece is provided with a screw hole or the output piece 203B is connected with a nut. The screw hole or the nut is provided with a thread matched with the threaded rod 202B. The output member 203B is sleeved on the screw rod 202B and screwed to the screw rod 202B. The driver of the mechanism is a motor. The input to the mechanism is the lead screw 202B. The base of the motor is connected to the base 201B of the screw mechanism. The output shaft of the motor is connected to one end of the screw rod 202B of the mechanism, and the motor can drive the screw rod 202B to rotate around its own axis. The rotation of the lead screw 202B can drive the output member 203B to move along the length direction of the lead screw. That is, the output member cooperates with the screw rod 202B to convert the rotation of the screw rod 202B into the linear movement of the output member.
活塞式气缸即伸缩式气缸，是引导活塞在其中进行直线往复运动的圆筒形金属器件。伸缩式液压缸尤其指活塞式液压缸。活塞式气缸的基座为气缸缸体，输出件为连接于活塞的伸缩杆。伸缩式液压缸的基座为液压缸缸体，输出件为连接于活塞的伸缩杆。The piston cylinder, that is, the telescopic cylinder, is a cylindrical metal device that guides the piston to perform linear reciprocating motion. Telescopic hydraulic cylinders especially refer to piston hydraulic cylinders. The base of the piston cylinder is a cylinder block, and the output part is a telescopic rod connected to the piston. The base of the telescopic hydraulic cylinder is a hydraulic cylinder block, and the output part is a telescopic rod connected to the piston.
如无限定说明，本文中该摆动机构指单连杆摆动机构也即单级摆动机构。升降机构，可为竖置的线性移动机构或摆动机构。摆动机构即摆动关节。摆动机构指：该机构的输出件铰接该机构的基座；该输出件可绕铰接处旋转，该输出件的一端为铰接端。摆动机构的输出件为摆臂。。Unless otherwise specified, the swing mechanism herein refers to a single-link swing mechanism, that is, a single-stage swing mechanism. The lifting mechanism can be a vertical linear movement mechanism or a swing mechanism. The swing mechanism is the swing joint. The swing mechanism refers to: the output part of the mechanism is hinged to the base of the mechanism; the output part can rotate around the hinge, and one end of the output part is a hinged end. The output part of the swing mechanism is a swing arm. .
本申请中，任一处该方案，均可与其他任意处方案结合、引用，均用于解释本文中方案。In this application, any of the schemes can be combined and referenced with any other schemes, and are used to explain the schemes in this article.
本申请的可选实施例并不用于限制本申请。对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。 The optional embodiments of the application are not intended to limit the application. For those skilled in the art, various modifications and changes may occur in this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of the claims of the present application.

Claims (25)

  1. 一种可移动的设备，其特征在于，包括：A mobile device, characterized in that it comprises:
    机架(01)；rack(01);
    以所述设备沿路面行驶的行驶方向为参考，位于所述设备的重心(O)的第一侧的机械腿(02)和位于所述设备的重心(O)的第二侧的机械腿(02)，所述第一侧的机械腿(02)和所述第二侧的机械腿(02)均连接于所述机架(01)；Taking the driving direction of the equipment along the road as a reference, the mechanical leg (02) located on the first side of the center of gravity (O) of the equipment and the mechanical leg (02) located on the second side of the center of gravity (O) of the equipment ( 02), the mechanical legs (02) on the first side and the mechanical legs (02) on the second side are both connected to the frame (01);
    所述第一侧的机械腿(02)和所述第二侧的机械腿(02)配置为能步行，且所述第一侧的机械腿(02)和所述第二侧的机械腿(02)中至少一条机械腿为腿臂融合的机械腿，所述腿臂融合的机械腿的末端连接末端执行器，所述末端执行器为作业工具(17)或用于连接作业工具(17)的连接部，所述腿臂融合的机械腿和所述作业工具(17)配置为用于指定的作业；The mechanical leg (02) on the first side and the mechanical leg (02) on the second side are configured to be able to walk, and the mechanical leg (02) on the first side and the mechanical leg (02) on the second side ( In 02), at least one mechanical leg is a mechanical leg with leg-arm fusion, and the end of the mechanical leg with leg-arm fusion is connected to an end effector, and the end effector is a working tool (17) or is used to connect a working tool (17) The connecting portion of the leg-arm fused mechanical leg and the work tool (17) are configured for specified work;
    所述设备还包括连接于所述机架(01)的滚动式行走机构(57)，所述滚动式行走机构用于支撑所述机架(01)离地和使所述设备沿路面行驶；和/或，所述设备还包括用于使所述机械腿的基座相对于所述机架(01)能实现上下运动和/或前后运动的腿根运动机构，所述腿根运动机构的一端连接于所述机架(01)，所述腿根运动机构的另一端连接所述机械腿的基座。The equipment also includes a rolling traveling mechanism (57) connected to the frame (01), and the rolling traveling mechanism is used to support the frame (01) off the ground and make the equipment travel along the road surface; And/or, the device also includes a leg-root motion mechanism for enabling the base of the mechanical leg to move up and down and/or forward and backward relative to the frame (01), and the leg-root motion mechanism One end is connected to the frame (01), and the other end of the leg root motion mechanism is connected to the base of the mechanical leg.
  2. 如权利要求1所述的可移动的设备，其特征在于，The mobile device of claim 1, wherein,
    所述第一侧的机械腿(02)和所述第二侧的机械腿(02)中任一条机械腿均包括：依次连接的第一关节部(101)、大腿(102)、第二关节部(103)和小腿(104)，所述第二关节部(103)包括用于使所述小腿(104)相对于所述大腿(102)能前后摆动的第二摆动关节，所述机械腿的基座指所述第一关节部(101)所包括的第一个关节的基座，所述机械腿的末端即所述小腿(104)的末端；Any one of the mechanical leg (02) on the first side and the mechanical leg (02) on the second side includes: a first joint part (101), a thigh (102), and a second joint connected in sequence part (103) and lower leg (104), the second joint part (103) includes a second swing joint for enabling the lower leg (104) to swing back and forth relative to the thigh (102), and the mechanical leg The base of the first joint refers to the base of the first joint included in the first joint part (101), and the end of the mechanical leg is the end of the lower leg (104);
    所述第一关节部(101)包括使所述大腿(102)相对于所述机械腿的基座能前后摆动的第一摆动关节(1012)，或所述第一关节部(101)包括使腿部旋转的第一旋转关节(1011)和使所述大腿(102)相对于所述机械腿的基座能前后摆动的第一摆动关节(1012)，所述第一旋转关节(1011)连接所述第一摆动关节(1012)。The first joint part (101) includes a first swing joint (1012) that allows the thigh (102) to swing back and forth relative to the base of the mechanical leg, or the first joint part (101) includes a A first rotary joint (1011) for leg rotation and a first swing joint (1012) for enabling the thigh (102) to swing back and forth relative to the base of the mechanical leg, the first rotary joint (1011) is connected to The first swing joint (1012).
  3. 如权利要求1所述的可移动的设备，其特征在于，The mobile device of claim 1, wherein,
    当所述第一侧的机械腿(02)和所述第二侧的机械腿(02)用于步行时，所述第一侧的机械腿(02)和所述第二侧的机械腿(02)中任一条机械腿所包括的第一个关节的输出轴指向前后或指向左右或指向下且所述机械腿(02)所包括的大腿(102)的根部位于所述第一个关节的基座的下方。When the mechanical leg (02) on the first side and the mechanical leg (02) on the second side are used for walking, the mechanical leg (02) on the first side and the mechanical leg (02) on the second side ( 02), the output shaft of the first joint included in any one of the mechanical legs points to the front and back or points to the left and right or points down, and the root of the thigh (102) included in the mechanical leg (02) is located at the first joint below the base.
  4. 如权利要求1所述的可移动的设备，其特征在于，The mobile device of claim 1, wherein,
    所述机械腿的末端连接末端执行器为：所述机械腿的末端通过第三关节部连接所述末端执行器，所述第三关节部用于调整所述末端执行器的姿态；The end of the mechanical leg is connected to the end effector: the end of the mechanical leg is connected to the end effector through a third joint, and the third joint is used to adjust the posture of the end effector;
    所述第三关节部包括使所述末端执行器相对于所述小腿(104)摆动用的关节(1052)，当所述机械腿用于步行时，所述关节(1052)能使所述末端执行器上摆以防止所述末端执行器触地；和/或，所述第三关节部包括至少三个关节用于调整所述末端执行器在三维空间的姿态。The third joint part includes a joint (1052) for swinging the end effector relative to the lower leg (104), the joint (1052) enabling the end The actuator swings up to prevent the end effector from touching the ground; and/or, the third joint part includes at least three joints for adjusting the posture of the end effector in three-dimensional space.
  5. 如权利要求4所述的可移动的设备，其特征在于，所述至少三个关节为依次连接的第一末端旋转用的关节(1051)、使所述末端执行器相对于所述小腿(104)摆动用的关节(1052)、第二末端旋转用的关节(1053)，所述第一末端旋转用的关节(1051)用于使所述末端执行器绕所述关节(1051)输出轴的轴线旋转，所述第二末端旋转用的关节(1053)用于使所述末端执行器绕所述关节(1053)输出轴的轴线(A6)旋转。The movable device according to claim 4, characterized in that, said at least three joints are joints (1051) connected in sequence for first end rotation, so that said end effector is relative to said lower leg (104 ) a joint (1052) for swinging, a joint (1053) for second end rotation, and the joint (1051) for the first end rotation is used to make the end effector rotate around the output shaft of the joint (1051) The second end-rotation joint (1053) is used to rotate the end effector around the axis (A6) of the output shaft of the joint (1053).
  6. 如权利要求1所述的可移动的设备，其特征在于，The mobile device of claim 1, wherein,
    在所述机架(01)的第一端、所述机架(01)的中部与所述机架(01)的第二端中任意一个区间内的所述第一侧的机械腿(02)的基座和所述第二侧的机械腿(02)的基座通过第二支架连接，当通过所述第二支架连接的所述第一侧的机械腿(02)和所述第二侧的机械腿(02)断开与所述机架(01)的连接时，通过所述第二支架连接的所述第一侧的机械腿(02)和所述第二侧的机械腿(02)能独立于所述设备沿路面步行。The mechanical leg (02) on the first side in any interval of the first end of the frame (01), the middle of the frame (01) and the second end of the frame (01) ) base and the base of the mechanical leg (02) on the second side are connected through a second bracket, when the mechanical leg (02) on the first side connected through the second bracket and the second When the mechanical leg (02) on the second side is disconnected from the frame (01), the mechanical leg (02) on the first side and the mechanical leg on the second side ( 02) Able to walk along the road independently of the device.
  7. 如权利要求1所述的可移动的设备，其特征在于，所述用于连接作业工具(17)的连接部为抓取装置(06)。The mobile device according to claim 1, characterized in that the connecting part for connecting the working tool (17) is a gripping device (06).
  8. 如权利要求7所述的可移动的设备，其特征在于，所述抓取装置(06)包含：用于取物的线性移动机构(06_2)，所述线性移动机构(06_2)一端连接所述腿臂融合的机械腿的末端，另一端连接用于钩物体的钩(06_3)，所述线性移动机构(06_2)用于驱动所述钩(06_3)直线运动以抓取物体或释放物体。 The mobile device according to claim 7, characterized in that, the grasping device (06) comprises: a linear movement mechanism (06_2) for fetching objects, one end of the linear movement mechanism (06_2) is connected to the The end of the mechanical leg of leg-arm fusion is connected to the hook (06_3) for hooking the object at the other end, and the linear movement mechanism (06_2) is used to drive the linear movement of the hook (06_3) to grab the object or release the object.
  9. 如权利要求1所述的可移动的设备，其特征在于，The mobile device of claim 1, wherein,
    所述滚动式行走机构(57)包括连接于所述机架(01)的第一行走机构(511)和第二行走机构(522)，当所述机架(01)的姿态为第一卧姿时，所述第一行走机构(511)位于所述可移动的设备的重心(O)之前，所述第二行走机构(522)位于所述可移动的设备的重心(O)之后，所述第一行走机构(511)的下表面和所述第二行走机构(522)的下表面均低于所述机架(01)的第二区域的表面，所述第一行走机构(511)和所述第二行走机构(522)用于支撑所述机架(01)离地和使所述设备沿路面行驶；和/或，The rolling traveling mechanism (57) includes a first traveling mechanism (511) and a second traveling mechanism (522) connected to the frame (01), when the posture of the frame (01) is the first lying posture, the first traveling mechanism (511) is located in front of the center of gravity (O) of the movable equipment, and the second traveling mechanism (522) is located behind the center of gravity (O) of the movable equipment, so The lower surface of the first traveling mechanism (511) and the lower surface of the second traveling mechanism (522) are lower than the surface of the second area of the frame (01), and the first traveling mechanism (511) and the second walking mechanism (522) is used to support the frame (01) off the ground and make the equipment travel along the road; and/or,
    所述滚动式行走机构(57)包括连接于所述机架(01)的第三行走机构，所述第三行走机构为履带式行走机构(07)，当所述机架(01)的姿态为第一卧姿时，所述第三行走机构的下表面低于所述机架(01)的第二区域的表面，所述第三行走机构用于支撑所述机架(01)离地和使所述设备沿路面行驶，且所述设备的重心(O)点的前后左右方均有所述第三行走机构的抵地点。The rolling type traveling mechanism (57) includes a third traveling mechanism connected to the frame (01), the third traveling mechanism is a crawler type traveling mechanism (07), when the posture of the frame (01) When in the first prone position, the lower surface of the third traveling mechanism is lower than the surface of the second area of the frame (01), and the third traveling mechanism is used to support the frame (01) off the ground and make the equipment travel along the road surface, and the center of gravity (O) point of the equipment has the arrival points of the third traveling mechanism in the front, rear, left, and right sides.
  10. 如权利要求9所述的可移动的设备，其特征在于，The mobile device of claim 9, wherein:
    当所述机架(01)的姿态为第一卧姿时，所述第一行走机构(511)的第一端的边缘位于所述机架(01)的靠近所述第二区域的表面的第一端的边缘的前方；和/或，When the posture of the frame (01) is the first prone position, the edge of the first end of the first traveling mechanism (511) is located on the surface of the frame (01) close to the second area forward of the edge of the first end; and/or,
    当所述机架(01)的姿态为第一卧姿时，所述第二行走机构(522)的第二端的边缘位于所述机架(01)的靠近所述第二区域的表面的第二端的边缘的后方；和/或，When the posture of the frame (01) is the first prone position, the edge of the second end of the second traveling mechanism (522) is located at the first position of the surface of the frame (01) close to the second area. behind the edges of both ends; and/or,
    所述设备包括连接于所述机架(01)的第一端的第一区域的行走轮，当所述机架(01)的姿态为第一卧姿时：所述第一端的第一区域的行走轮的上表面高于所述机架(01)的第一端的第一区域的表面，和/或所述第一端的第一区域的行走轮的第一端的边缘位于所述机架(01)的靠近所述第一区域的表面的第一端的边缘的前方；和/或，The device includes road wheels connected to the first region of the first end of the frame (01), when the frame (01) is in a first prone position: the first end of the first end The upper surface of the road wheels of the area is higher than the surface of the first area of the first end of the frame (01), and/or the edge of the first end of the road wheels of the first area of the first end is located at the The front of the edge of the first end of the surface of the frame (01) close to the first area; and/or,
    所述设备包括连接于所述机架(01)的第二端的第一区域的行走轮，当所述机架(01)的姿态为第一卧姿时：所述第二端的第一区域的行走轮的上表面高于所述机架(01)的第二端的第一区域的表面，和/或所述第二端的第一区域的行走轮的第二端的边缘位于所述机架(01)的靠近所述第一区域的表面的第二端的边缘的后方。The device includes road wheels connected to the first area of the second end of the frame (01), and when the posture of the frame (01) is the first prone position: the first area of the second end The upper surface of the road wheels is higher than the surface of the first area of the second end of the frame (01), and/or the edge of the second end of the road wheels in the first area of the second end is located in the frame (01 ) behind the edge near the second end of the surface of the first region.
  11. 如权利要求9所述的可移动的设备，其特征在于，The mobile device of claim 9, wherein:
    所述设备还包括第一升降机构(211)和第二升降机构(222)，所述第一升降机构(211)和所述第二升降机构(222)的一端均连接于所述机架(01)，The equipment also includes a first lifting mechanism (211) and a second lifting mechanism (222), and one end of the first lifting mechanism (211) and the second lifting mechanism (222) is connected to the frame ( 01),
    所述第一升降机构(211)的另一端连接第一行走机构(511)，所述第一升降机构(211)用于使所述第一行走机构(511)相对于所述机架(01)升降，The other end of the first lifting mechanism (211) is connected to the first traveling mechanism (511), and the first lifting mechanism (211) is used to make the first traveling mechanism (511) relative to the frame (01 ) lift,
    所述第二升降机构(222)的另一端连接第二行走机构(522)，所述第二升降机构(222)用于使所述第二行走机构(522)相对于所述机架(01)升降；The other end of the second lifting mechanism (222) is connected to the second traveling mechanism (522), and the second lifting mechanism (222) is used to make the second traveling mechanism (522) relative to the frame (01 ) lift;
    和/或，所述设备还包括所述第三升降机构，所述第三升降机构的一端连接于所述机架(01)，所述第三升降机构的另一端连接第三行走机构，所述第三升降机构用于使所述第三行走机构相对于所述机架(01)升降。And/or, the device also includes the third lifting mechanism, one end of the third lifting mechanism is connected to the frame (01), and the other end of the third lifting mechanism is connected to the third traveling mechanism, so The third elevating mechanism is used to elevate the third traveling mechanism relative to the frame (01).
  12. 如权利要求9所述的可移动的设备，其特征在于，The mobile device of claim 9, wherein:
    所述第一行走机构(511)为第一行走轮或第一分布式履带机构；和/或，The first traveling mechanism (511) is a first traveling wheel or a first distributed crawler mechanism; and/or,
    所述第二行走机构(522)为第二行走轮或第二分布式履带机构；和/或，The second traveling mechanism (522) is a second traveling wheel or a second distributed crawler mechanism; and/or,
    所述第一行走机构(511)包括设置于所述设备的重心(O)的第一侧的第一行走机构(051)和设置于所述重心(O)的第二侧的第一行走机构(053),和/或所述第二行走机构(522)包括设置于所述设备的重心(O)的第一侧的第二行走机构(052)和设置于所述重心(O)的第二侧的第二行走机构(054)；和/或，The first traveling mechanism (511) includes a first traveling mechanism (051) disposed on the first side of the center of gravity (O) of the equipment and a first traveling mechanism disposed on the second side of the center of gravity (O) (053), and/or the second traveling mechanism (522) includes a second traveling mechanism (052) arranged on the first side of the center of gravity (O) of the equipment and a second traveling mechanism (052) arranged on the center of gravity (O) The second running gear (054) on both sides; and/or,
    当由所述第一行走机构(511)和所述第二行走机构(522)所组成的滚动式行走机构断开与所述机架(01)的连接时，所述滚动式行走机构能独立于所述设备沿路面行驶；和/或，When the rolling traveling mechanism composed of the first traveling mechanism (511) and the second traveling mechanism (522) is disconnected from the frame (01), the rolling traveling mechanism can independently drive along the road with said equipment; and/or,
    当履带式行走机构(07)断开与所述机架(01)的连接时，所述履带式行走机构(07)能独立于所述设备沿路面行驶。When the crawler-type traveling mechanism (07) is disconnected from the frame (01), the crawler-type traveling mechanism (07) can run along the road independently of the equipment.
  13. 如权利要求1所述的可移动的设备，其特征在于，The mobile device of claim 1, wherein,
    所述腿根运动机构包括连接支架的第一线性运动机构(184)，所述第一线性运动机构(184)设置于所述机架(01)的下方或第一侧或第二侧，所述第一线性运动机构(184)的基座的连接于所述机架(01)，The leg root motion mechanism includes a first linear motion mechanism (184) connected to the bracket, and the first linear motion mechanism (184) is arranged below or on the first side or the second side of the frame (01), so The base of the first linear motion mechanism (184) is connected to the frame (01),
    所述第一线性运动机构(184)的输出件连接支架， The output member of the first linear motion mechanism (184) is connected to the bracket,
    所述支架的第一侧的部件连接第一侧的所述腿臂融合的机械腿的基座，a member of the first side of the bracket connects the base of the robotic leg of the leg-arm fusion on the first side,
    所述支架的第二侧的部件连接第二侧的所述腿臂融合的机械腿的基座，a member on the second side of the bracket connects the base of the robotic leg of the leg-arm fusion on the second side,
    所述第一线性运动机构用于：带动第一侧的所述机械腿的基座和第二侧的所述机械腿的基座在所述机架(01)的第一端与所述机架(01)的第二端之间移动或在所述机架(01)的第一端与所述机架(01)的中部之间移动或在所述机架(01)的中部与所述机架(01)的第二端之间移动；The first linear motion mechanism is used to: drive the base of the mechanical leg on the first side and the base of the mechanical leg on the second side to connect with the first end of the frame (01) to the machine between the second end of the rack (01) or between the first end of the rack (01) and the middle of the rack (01) or between the middle of the rack (01) and the middle of the rack (01) Move between the second ends of the frame (01);
    或，or,
    所述腿根运动机构包括设置于所述机架(01)的第一侧的第一线性运动机构(184L),所述第一侧的第一线性运动机构(184L)的基座的连接于所述机架(01)，所述第一侧的第一线性运动机构(184L)的输出件连接第一侧的所述腿臂融合的机械腿的基座，所述第一侧的第一线性运动机构(184L)用于：带动第一侧的所述机械腿的基座在所述机架(01)的第一端与所述机架(01)的第二端之间移动或在所述机架(01)的第一端与所述机架(01)的中部之间移动或在所述机架(01)的中部与所述机架(01)的第二端之间移动，和/或，The leg heel movement mechanism includes a first linear movement mechanism (184L) arranged on the first side of the frame (01), and the base of the first linear movement mechanism (184L) on the first side is connected to The frame (01), the output member of the first linear motion mechanism (184L) on the first side is connected to the base of the mechanical leg of the leg-arm fusion on the first side, the first The linear motion mechanism (184L) is used for: driving the base of the mechanical leg on the first side to move between the first end of the frame (01) and the second end of the frame (01) or between moving between the first end of the rack (01) and the middle of the rack (01) or between the middle of the rack (01) and the second end of the rack (01) ,and / or,
    所述腿根运动机构包括设置于所述机架(01)的第二侧的第一线性运动机构(184R),所述第二侧的第一线性运动机构(184R)的基座的连接于所述机架(01)，所述第二侧的第一线性运动机构(184L)的输出件连接第二侧的所述腿臂融合的机械腿的基座，所述第二侧的第一线性运动机构(184R)用于：带动第二侧的所述机械腿的基座在所述机架(01)的第一端与所述机架(01)的第二端之间移动或在所述机架(01)的第一端与所述机架(01)的中部之间移动或在所述机架(01)的中部与所述机架(01)的第二端之间移动。The leg heel movement mechanism includes a first linear movement mechanism (184R) arranged on the second side of the frame (01), and the base of the first linear movement mechanism (184R) on the second side is connected to The frame (01), the output member of the first linear motion mechanism (184L) on the second side is connected to the base of the mechanical leg of the leg-arm fusion on the second side, and the first linear motion mechanism (184L) on the second side The linear motion mechanism (184R) is used for: driving the base of the mechanical leg on the second side to move between the first end of the frame (01) and the second end of the frame (01) or between moving between the first end of the rack (01) and the middle of the rack (01) or between the middle of the rack (01) and the second end of the rack (01) .
    或，or,
    所述腿根运动机构包括设置于所述机架(01)的第一侧的第一腿根摆动机构(19L),所述第一侧的第一腿根摆动机构(19L)的基座的连接于所述机架(01)，且所述第一侧的第一腿根摆动机构(19L)的旋转轴指向左右，所述第一侧的第一腿根摆动机构(19L)的输出件连接第一侧的所述腿臂融合的机械腿的基座，所述第一侧的第一腿根摆动机构(19L)用于：带动第一侧的所述机械腿的基座在所述机架(01)的第一侧的第一端、所述机架(01)的第一侧的中部与所述机架(01)的第一侧的第二端中任意两种位置之间摆动，和/或，The leg movement mechanism includes a first leg swing mechanism (19L) arranged on the first side of the frame (01), the base of the first leg swing mechanism (19L) on the first side It is connected to the frame (01), and the rotation axis of the first leg swing mechanism (19L) on the first side points to the left and right, and the output member of the first leg swing mechanism (19L) on the first side Connecting the base of the mechanical leg fused with the leg arm on the first side, the first leg root swing mechanism (19L) on the first side is used to: drive the base of the mechanical leg on the first side Between the first end of the first side of the rack (01), the middle of the first side of the rack (01) and the second end of the first side of the rack (01) between any two positions swing, and/or,
    所述腿根运动机构包括设置于所述机架(01)的第二侧的第一腿根摆动机构(19R),所述第二侧的第一腿根摆动机构(19R)的基座的连接于所述机架(01)，且所述第二侧的第一腿根摆动机构(19R)的旋转轴指向左右，所述第二侧的第一腿根摆动机构(19R)的输出件连接第二侧的所述腿臂融合的机械腿的基座，所述第二侧的第一腿根摆动机构(19R)用于：带动第二侧的所述机械腿的基座在所述机架(01)的第二侧的第一端、所述机架(01)的第二侧的中部与所述机架(01)的第二侧的第二端中任意两种位置之间摆动。The leg movement mechanism includes a first leg swing mechanism (19R) arranged on the second side of the frame (01), and the base of the first leg swing mechanism (19R) on the second side It is connected to the frame (01), and the rotation axis of the first leg swing mechanism (19R) on the second side points to the left and right, and the output member of the first leg swing mechanism (19R) on the second side Connect the base of the mechanical leg of the fusion of the legs and arms on the second side, the first leg root swing mechanism (19R) on the second side is used to: drive the base of the mechanical leg on the second side Between the first end of the second side of the rack (01), the middle of the second side of the rack (01), and the second end of the second side of the rack (01) between any two positions swing.
  14. 如权利要求1所述的可移动的设备，其特征在于，所述腿根运动机构包括The mobile device of claim 1, wherein said heel kinematic mechanism comprises
    设置于所述机架(01)的第一侧的第一端的第二线性运动机构(121L)和/或a second linear motion mechanism (121L) disposed at the first end of the first side of the frame (01) and/or
    设置于所述机架(01)的第二侧的第一端的第二线性运动机构(121R)和/或the second linear motion mechanism (121R) arranged at the first end of the second side of the frame (01) and/or
    设置于所述机架(01)的第一侧的第二端的第二线性运动机构(122L)和/或a second linear motion mechanism (122L) disposed at the second end of the first side of the frame (01) and/or
    设置于所述机架(01)的第二侧的第二端的第二线性运动机构(122R)；a second linear motion mechanism (122R) disposed at the second end of the second side of the frame (01);
    所述第一侧的机械腿(02)包括第一侧的第一端的机械腿(021L)和第一侧的第二端的机械腿(022L)；The mechanical legs (02) on the first side include a mechanical leg (021L) at the first end of the first side and a mechanical leg (022L) at the second end of the first side;
    所述第二侧的机械腿(02)包括第二侧的第一端的机械腿(021R)和第二侧的第二端的机械腿(022R)；The mechanical legs (02) on the second side include a mechanical leg (021R) at the first end of the second side and a mechanical leg (022R) at the second end of the second side;
    所述第一侧的第一端、所述第一侧的第二端、所述第二侧的第一端和所述第二侧的第二端中任一方位的所述第二线性运动机构的基座的两端分别指向所述机架(01)的第一区域的表面和所述机架(01)的第二区域的表面，所述第二线性运动机构的基座的连接于所述机架(01)，所述第二线性运动机构的输出件连接所述任一方位的机械腿的基座，The second linear motion in any orientation of the first end of the first side, the second end of the first side, the first end of the second side, and the second end of the second side The two ends of the base of the mechanism are respectively directed to the surface of the first area of the frame (01) and the surface of the second area of the frame (01), and the base of the second linear motion mechanism is connected to The frame (01), the output member of the second linear motion mechanism is connected to the base of the mechanical leg in any orientation,
    所述第二线性运动机构能带动所述机械腿的基座运动到第一区域，以使所述机械腿的在第一区域进行指定的作业或攀爬，The second linear motion mechanism can drive the base of the mechanical leg to move to the first area, so that the mechanical leg can perform specified operations or climb in the first area,
    所述第二线性运动机构也能带动所述机械腿的基座运动到第二区域，以使所述机械腿在第二区域进行指定的作业或步行。The second linear motion mechanism can also drive the base of the mechanical leg to move to the second area, so that the mechanical leg can perform specified work or walk in the second area.
  15. 如权利要求1所述的可移动的设备，其特征在于，所述指定的作业包括以从人员下方托住人员的方式搬运人员、带动所述机械腿(02)末端所连接的作业工具(17)以抓取连接人员的柔性 物体的方式搬运人员、切割物体、挖掘、铲物、挖掘或铲物、采摘物品、耕种、涂刷物品、取砖垒墙、焊接物品、旋转紧固件以安装或拆卸物品、喷射物体中任一种。The mobile device according to claim 1, characterized in that, the specified operation includes carrying the person in a manner of supporting the person from below, driving the working tool (17) connected to the end of the mechanical leg (02) ) to grab the flexible moving people by means of objects, cutting objects, digging, shoveling, digging or shoveling, picking objects, tilling, painting objects, taking bricks to build walls, welding objects, rotating fasteners to install or remove objects, spraying objects A sort of.
  16. 如权利要求1至15任一项所述的可移动的设备，其特征在于，The mobile device according to any one of claims 1 to 15, characterized in that,
    所述可移动的设备在作业时，所述机架(01)的姿态既能为第一卧姿也能为立姿，所述立姿为第一立姿或第二立姿；和/或，When the movable equipment is in operation, the posture of the frame (01) can be either a first lying posture or a standing posture, and the standing posture is the first standing posture or the second standing posture; and/or,
    所述机械腿(02)的末端设置有用于撑地的脚掌(106A)；和/或，The end of the mechanical leg (02) is provided with a sole (106A) for supporting the ground; and/or,
    所述机械腿(02)的末端设置有用于沿路面滚动的滚轮；和/或，The ends of the mechanical legs (02) are provided with rollers for rolling along the road surface; and/or,
    所述机械腿(02)设置有用于给所述作业工具供电的供电部件，所述供电部件的一端连接设置于所述机架(01)的电源，所述供电部件的一端用于连接所述作业工具；和/或，The mechanical leg (02) is provided with a power supply component for supplying power to the working tool, one end of the power supply component is connected to the power supply provided on the frame (01), and one end of the power supply component is used to connect the work tools; and/or,
    所述设备的顶部(115)通过第五升降机构(1315)连接机架(01)使所述顶部(115)相对于所述机架(01)能升降和/或所述顶部(115)设置有滚轮；和/或，The top (115) of the device is connected to the frame (01) through the fifth lifting mechanism (1315) so that the top (115) can be lifted relative to the frame (01) and/or the top (115) is set have wheels; and/or,
    所述可移动的设备构造为能载成年人行驶，和/或所述设备还包括载人舱(11)；和/或,The mobile device is configured to carry adults, and/or the device also includes a passenger compartment (11); and/or,
    所述可移动的设备为车；和/或,said movable device is a cart; and/or,
    所述可移动的设备还包括连接于所述机架(01)的水中推进装置(09)，所述水中推进装置(09)配置为能驱动所述可移动的设备在水中行驶；和/或，所述可移动的设备在水中所产生的浮力不小于所述可移动的设备的重力或所述可移动的设备为船。The movable equipment further includes an underwater propulsion device (09) connected to the frame (01), and the underwater propulsion device (09) is configured to drive the movable equipment to travel in water; and/or , the buoyancy generated by the movable device in water is not less than the gravity of the movable device or the movable device is a boat.
  17. 一种如权利要求1至15任一项所述的可移动的设备的控制方法，其特征在于，所述控制方法包括步骤：A control method for a movable device according to any one of claims 1 to 15, characterized in that the control method comprises the steps of:
    获取作业的种类信息：若作业的种类为以从人员下方托住人员的方式搬运人员则执行步骤S1，若作业的种类为以抓取连接人员的柔性物体的方式搬运人员则执行步骤S2，若作业的种类为切割物品则执行步骤S3，若作业的种类为挖掘或铲物则执行步骤S4，Obtaining the type information of the operation: if the type of operation is to carry the person by holding the person from under the person, then perform step S1; If the type of operation is cutting objects, step S3 is performed, and if the type of operation is excavation or shoveling, then step S4 is performed.
    S1：先将所述腿臂融合的机械腿的活动部件放置于待搬运人员的下方托住人员再使所述人员升降和/或平移，所述活动部件指所述腿臂融合的机械腿的大腿(102)和/或小腿(104)和/或所述小腿(104)的末端的关节和/或所述腿臂融合的机械腿的末端所连接的工具；S1: First place the movable part of the mechanical leg with the leg-arm fusion under the person to be transported to support the person and then lift and/or translate the person. The movable part refers to the mechanical leg of the leg-arm fusion the joint of the thigh (102) and/or the lower leg (104) and/or the end of said lower leg (104) and/or the means to which the end of said leg-arm fusion robotic leg is attached;
    S2：控制所述腿臂融合的机械腿带动所述机械腿的末端所连接的末端执行器以抓取连接人员的柔性物体的方式搬运人员，所述末端执行器为抓取装置(06)；S2: The mechanical leg that controls the fusion of the legs and arms drives the end effector connected to the end of the mechanical leg to carry the person by grabbing a flexible object connected to the person, and the end effector is a grabbing device (06);
    S3：控制所述腿臂融合的机械腿带动所述机械腿的末端所连接的作业工具切割物品，所述作业工具为刀或锯或切割机；S3: Control the mechanical leg of the fusion of the legs and arms to drive the working tool connected to the end of the mechanical leg to cut objects, and the working tool is a knife or a saw or a cutting machine;
    S4：控制所述腿臂融合的机械腿带动所述机械腿的末端所连接的作业工具挖掘或铲物，所述作业工具为铲。S4: The mechanical leg that controls the fusion of the legs and arms drives the working tool connected to the end of the mechanical leg to excavate or shovel, and the working tool is a shovel.
  18. 一种如权利要求16所述的可移动的设备的控制方法，其特征在于，在所述进行指定的作业之前包括步骤Z1或步骤Z10或步骤Z20：A control method for movable equipment as claimed in claim 16, characterized in that, before performing the specified operation, step Z1 or step Z10 or step Z20 is included:
    Z1：获取作业对象的位姿信息或获取目标空间的方位信息；Z1: Obtain the pose information of the work object or obtain the orientation information of the target space;
    Z10：控制腿臂融合的机械腿带动该机械腿的末端所连接的作业工具，使该作业工具由该作业工具的当前位姿运动至作业位姿；Z10: The mechanical leg that controls the fusion of legs and arms drives the working tool connected to the end of the mechanical leg, so that the working tool moves from the current position of the working tool to the working position;
    Z20：控制腿臂融合的机械腿运动和/或控制该腿臂融合的机械腿的末端所连接作业工具动作，以装载或抓取作业物料。Z20: Control the movement of the mechanical leg of the leg-arm fusion and/or control the action of the working tool connected to the end of the mechanical leg of the leg-arm fusion, so as to load or grab the working material.
  19. 一种如权利要求1至15任一项所述的可移动的设备的控制方法，其特征在于，所述控制方法包括步骤：控制至少一条所述第一侧的机械腿(02)和控制至少一条所述第二侧的机械腿(02)，使所述机架(01)的姿态在第一卧姿与立姿中切换；所述立姿为第一立姿或第二立姿。A control method for movable equipment according to any one of claims 1 to 15, characterized in that the control method comprises the steps of: controlling at least one mechanical leg (02) on the first side and controlling at least one A mechanical leg (02) on the second side switches the posture of the frame (01) between a first lying posture and a standing posture; the standing posture is the first standing posture or the second standing posture.
  20. 一种如权利要求11所述的可移动的设备的控制方法，其特征在于，所述控制方法包括步骤：A control method for movable equipment as claimed in claim 11, characterized in that the control method comprises the steps of:
    在所述可移动的设备通过所述履带式行走机构(07)行驶将从平路进入下倾路段时，控制所述第二升降机构(222)使所述第二行走机构(522)在所述平路抵地,以使所述履带式行走机构(07)的后部抬高；和/或，When the movable equipment travels through the crawler-type traveling mechanism (07) and enters a downhill section from a flat road, control the second lifting mechanism (222) so that the second traveling mechanism (522) is at the Said flat road reaches the ground, so that the rear portion of said crawler-type running gear (07) is raised; And/or,
    在所述可移动的设备通过所述履带式行走机构(07)行驶从上倾路段进入平路且所述履带式行走机构中履带07还处于后倾状态时，控制所述第二升降机构(222)使所述第二行走机构(522)在所述上倾路段抵地,以减小所述履带式行走机构(07)的倾斜角度；和/或，When the movable equipment travels from an uphill road section to a flat road through the crawler-type traveling mechanism (07) and the crawler belt 07 in the crawler-type traveling mechanism is still in a backward tilting state, control the second lifting mechanism ( 222) Make the second traveling mechanism (522) touch the ground on the up-incline road section, so as to reduce the inclination angle of the crawler-type traveling mechanism (07); and/or,
    控制所述第一升降机构(211)和控制所述第二升降机构(222)，和/或控制所述第三升降机构，用于：在所述腿臂融合的机械腿离地进行指定的作业时调整所述机架(01)相对于路面的高度或调整所述机架(01)的姿态；或使使所述设备在第一模式和第二模式之间切换； Controlling the first lifting mechanism (211) and controlling the second lifting mechanism (222), and/or controlling the third lifting mechanism, is used for: specifying when the mechanical leg of the leg-arm fusion is off the ground Adjusting the height of the frame (01) relative to the road surface or adjusting the posture of the frame (01) during operation; or switching the device between the first mode and the second mode;
    所述第一模式为：所述第三行走机构的下表面低于所述第一行走机构(511)的下表面和/或所述第二行走机构(522)的下表面，由所述第三行走机构支撑所述机架(01)离地和使所述可移动的设备沿路面行驶，或由所述第一行走机构(511)与所述第二行走机构(522)中一种及所述第三行走机构支撑所述机架(01)离地和使所述可移动的设备沿路面行驶；The first mode is: the lower surface of the third traveling mechanism is lower than the lower surface of the first traveling mechanism (511) and/or the lower surface of the second traveling mechanism (522), and the The three traveling mechanisms support the frame (01) off the ground and enable the movable equipment to travel along the road, or one of the first traveling mechanism (511) and the second traveling mechanism (522) and The third traveling mechanism supports the frame (01) off the ground and enables the movable equipment to travel along the road surface;
    所述第二模式为：所述第一行走机构(511)的下表面和所述第二行走机构(522)的下表面都低于所述第三行走机构的下表面，由所述第一行走机构(511)和所述第二行走机构(522)支撑所述机架(01)离地和使所述可移动的设备沿路面行驶。The second mode is: the lower surface of the first traveling mechanism (511) and the lower surface of the second traveling mechanism (522) are lower than the lower surface of the third traveling mechanism, and the first walking mechanism The traveling mechanism (511) and the second traveling mechanism (522) support the frame (01) off the ground and enable the movable equipment to travel along the road.
  21. 一种如权利要求13所述的可移动的设备的控制方法，其特征在于，所述控制方法包括步骤：A control method for movable equipment as claimed in claim 13, characterized in that the control method comprises the steps of:
    控制某腿根运动机构使所述第一侧的机械腿(02)的基座和所述第二侧的机械腿(02)的基座位于所述机架(01)的某一端；控制所述第一侧的机械腿(02)使所述第一侧的机械腿(02)撑地和/或控制所述第二侧的机械腿(02)使所述第二侧的机械腿(02)撑地，或控制所述第一侧的机械腿(02)和所述第二侧的机械腿(02)步行，以使所述设备沿路面行驶和/或使所述机架(01)的某一端及位于所述某一端的滚动式行走机构离地以越障；所述某一端为第一端及所述另一端为第二端，或所述某一端为第二端及所述另一端为第一端；所述某腿根运动机构为所述连接支架的第一线性运动机构(184)，或所述某腿根运动机构为所述第一侧的第一线性运动机构(184L)及所述第二侧的第一线性运动机构(184R)，或所述某腿根运动机构为所述第一侧的第一腿根摆动机构(19L)及所述第二侧的第一腿根摆动机构(19R)；和/或，Control a leg root motion mechanism so that the base of the mechanical leg (02) on the first side and the base of the mechanical leg (02) on the second side are located at a certain end of the frame (01); The mechanical legs (02) on the first side make the mechanical legs (02) on the first side stand on the ground and/or control the mechanical legs (02) on the second side so that the mechanical legs (02) on the second side ) to support the ground, or control the mechanical legs (02) on the first side and the mechanical legs (02) on the second side to walk, so that the equipment travels along the road and/or the rack (01) One end of one end and the rolling walking mechanism located at the one end are off the ground to overcome obstacles; the one end is the first end and the other end is the second end, or the one end is the second end and the The other end is the first end; the certain leg-root motion mechanism is the first linear motion mechanism (184) of the connecting bracket, or the certain leg-root motion mechanism is the first linear motion mechanism ( 184L) and the first linear motion mechanism (184R) on the second side, or the certain leg motion mechanism is the first leg swing mechanism (19L) on the first side and the first leg swing mechanism (19L) on the second side A leg heel swing mechanism (19R); and/or,
    控制所述连接支架的第一线性运动机构(184)或控制所述第一侧的第一线性运动机构(184L)及所述第二侧的第一线性运动机构(184R)，使所述第一侧的机械腿(02)的基座和所述第二侧的机械腿(02)的基座位于所述机架(01)的中部，或控制所述第一侧的第一腿根摆动机构(19L)及所述第二侧的第一腿根摆动机构(19R)，使所述第一侧的机械腿(02)的基座和所述第二侧的机械腿(02)的基座位于所述机架(01)的中下部；控制所述第一侧的机械腿(02)和所述第二侧的机械腿(02)步行；和/或，controlling the first linear motion mechanism (184) of the connecting bracket or controlling the first linear motion mechanism (184L) of the first side and the first linear motion mechanism (184R) of the second side so that the first linear motion mechanism (184R) of the second side The base of the mechanical leg (02) on one side and the base of the mechanical leg (02) on the second side are located in the middle of the frame (01), or control the swing of the first leg root on the first side The mechanism (19L) and the first leg root swing mechanism (19R) on the second side make the base of the mechanical leg (02) on the first side and the base of the mechanical leg (02) on the second side The seat is located at the middle and lower part of the frame (01); the mechanical legs (02) on the first side and the mechanical legs (02) on the second side are controlled to walk; and/or,
    控制某一侧的第一腿根摆动机构使所述某一侧的机械腿(02)的基座位于所述机架(01)的中上部，控制所述机械腿(02)进行指定的作业或攀爬，所述攀爬指通过所述机械腿的末端所连接的末端执行器抓住高于所述机架(01)的外部物体使所述设备沿所述外部物体爬行，所述末端执行器为抓取装置(06)或用于攀爬的作业工具，所述某一侧为第一侧或第二侧；和/或，Control the first leg root swing mechanism on a certain side so that the base of the mechanical leg (02) on the certain side is located at the middle and upper part of the frame (01), and control the mechanical leg (02) to perform the specified operation Or climbing, the climbing refers to grabbing an external object higher than the frame (01) through the end effector connected to the end of the mechanical leg to make the device crawl along the external object, the end The actuator is a grabbing device (06) or a working tool for climbing, and the certain side is the first side or the second side; and/or,
    控制某腿根运动机构使所述腿根运动机构的输出件所连接的机械腿的基座位于所述机架(01)的第一端、所述机架(01)的中部与所述机架(01)的第二端中任一位置，控制所述机械腿进行指定的作业，所述某腿根运动机构为所述连接支架的第一线性运动机构(184)、所述第一侧的第一线性运动机构(184L)、所述第二侧的第一线性运动机构(184R)、所述第一侧的第一腿根摆动机构(19L)和所述第二侧的第一腿根摆动机构(19R)中任一种。Control a leg root motion mechanism so that the base of the mechanical leg connected to the output part of the leg root motion mechanism is located at the first end of the frame (01), the middle part of the frame (01) and the frame Any position at the second end of the frame (01), controls the mechanical leg to perform the specified operation, and the movement mechanism of the certain leg root is the first linear movement mechanism (184) of the connecting bracket, the first side The first linear motion mechanism (184L) of the second side, the first linear motion mechanism (184R) of the second side, the first leg root swing mechanism (19L) of the first side and the first leg of the second side Any one of the root swing mechanisms (19R).
  22. 一种如权利要求14所述的可移动的设备的控制方法，其特征在于，所述控制方法包括步骤：A control method for movable equipment as claimed in claim 14, characterized in that the control method comprises the steps of:
    控制所述任一方位的所述第二线性运动机构带动所述任一方位的机械腿的基座运动到所述第一区域，控制所述机械腿进行指定的作业或攀爬，所述攀爬指通过所述机械腿的末端所连接的末端执行器抓住高于所述机架(01)的外部物体使所述设备沿所述外部物体爬行，所述末端执行器为抓取装置(06)或用于攀爬的作业工具；和/或，Controlling the second linear motion mechanism in any orientation drives the base of the mechanical leg in any orientation to move to the first area, and controls the mechanical leg to perform specified operations or climbing. The crawling finger grabs an external object higher than the frame (01) through the end effector connected to the end of the mechanical leg to make the equipment crawl along the external object, and the end effector is a grabbing device ( 06) or working implements for climbing; and/or,
    控制所述任一方位的所述第二线性运动机构带动所述任一方位的机械腿的基座运动到所述第二区域，控制所述机械腿进行指定的作业；和/或，Controlling the second linear motion mechanism in any orientation drives the base of the mechanical leg in any orientation to move to the second area, and controls the mechanical leg to perform specified operations; and/or,
    控制同一部位的第一侧的所述第二线性运动机构和第二侧的所述第二线性运动机构，使所述同一部位的所述第一侧的机械腿的基座和所述第二侧的机械腿的基座运动到第二区域，控制所述第一侧的机械腿和所述第二侧的机械腿步行，所述同一部位为所述第一端和/或所述第二端。controlling the second linear motion mechanism on the first side of the same part and the second linear motion mechanism on the second side so that the base of the mechanical leg on the first side and the second linear motion mechanism on the same part The base of the mechanical leg on the side moves to the second area, and the mechanical leg on the first side and the mechanical leg on the second side are controlled to walk, and the same part is the first end and/or the second end.
  23. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现如权利要求17-22任意一项所述的控制方法。A computer-readable storage medium, characterized in that computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by a processor, the control described in any one of claims 17-22 is realized. method.
  24. 一种可移动的设备的控制装置，其特征在于，所述控制装置包括处理器以及存储有计算机程序指令的存储器；所述处理器执行所述计算机程序指令时实现如权利要求17-22任意一项所述的控制方法。A control device for movable equipment, characterized in that the control device includes a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, any one of claims 17-22 is implemented. control method described in the item.
  25. 一种移动平台，其特征在于，所述移动平台为如权利要求1至15任一项所述的可移动的设备，或所述移动平台包含用于使所述移动平台沿路面行驶的行走机构，所述移动平台包括如技术方案24所述的控制装置。 A mobile platform, characterized in that the mobile platform is the mobile device according to any one of claims 1 to 15, or the mobile platform includes a walking mechanism for driving the mobile platform along the road surface , the mobile platform includes the control device described in technical solution 24.
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